  We describe the release of reference data towards a challenging long-term
localisation and mapping benchmark based on the large-scale Oxford RobotCar
Dataset. The release includes 72 traversals of a route through Oxford, UK,
gathered in all illumination, weather and traffic conditions, and is
representative of the conditions an autonomous vehicle would be expected to
operate reliably in. Using post-processed raw GPS, IMU, and static GNSS base
station recordings, we have produced a globally-consistent centimetre-accurate
ground truth for the entire year-long duration of the dataset. Coupled with a
planned online benchmarking service, we hope to enable quantitative evaluation
and comparison of different localisation and mapping approaches focusing on
long-term autonomy for road vehicles in urban environments challenged by
changing weather.
