Open sources — Telemachus coverage matrix

Which public datasets are mapped to Telemachus format, and what each one exposes. Use this to pick the right dataset for your experiment, or to spot which columns you'd need to synthesise if you work across multiple sources.

Coverage at a glance

Legend: ✅ present · ⚠️ derived / lossy · ❌ absent · — N/A

Dataset	ts	lat/lon	speed_mps	IMU accel	IMU gyro	Magneto	OBD / CAN	Adapter ready
AEGIS (Zenodo 820576, CC-BY-4.0)	✅	✅	⚠️ GPS 5 Hz	✅ 24 Hz	✅ 24 Hz	❌	✅	✅
PVS Menegazzo (Kaggle, CC-BY-NC-ND-4.0)	✅	✅	✅ 1 Hz	✅ 100 Hz	✅ 100 Hz (deg/s)	❌	❌	✅ (code only)
STRIDE Bangladesh (Figshare 25460755, CC-BY-4.0)	✅	✅	✅ 1 Hz	✅ 100 Hz	✅ 100 Hz	⚠️ (not ingested)	❌	✅
UAH-DriveSet (Academic)	✅	✅	✅	✅ 10 Hz	❌	❌	❌	⏳ (pending)
Smartphone Accident (CC0)	✅	✅	⚠️	✅	✅	⚠️	❌	⏳ (pending)

See each dataset's manifest.yaml under datasets/ for detailed native rates, frame declarations, license warnings and papers_using references.

Per-column notes

Gyroscope

Only AEGIS, PVS and STRIDE ship a native gyroscope. If your method needs gyro ground-truth, these are the three candidates. PVS gyro is in deg/s at the source — the [PRIVATE] loader converts to rad/s automatically based on sensors.gyroscope.unit in the manifest.

Speed

Only PVS and STRIDE ship a proper GPS speed_mps field at 1 Hz. AEGIS has GPS at 5 Hz but the speed channel needs verification; the [PRIVATE] loader falls back to OBD speed when available.

Magnetometer

STRIDE is the only source that technically exposes magnetometer data, but no loader ingests it today (the Magnetometer.csv is present but not parsed). If your method needs mag, plan a small loader extension.

OBD / CAN

Only AEGIS carries OBD PIDs (speed, RPM, …) from the vehicle bus. For anything else you'll rely on GPS-derived speed and acceleration.

Which dataset for which task?

Task	Best choice	Why
Yaw ground-truth at high rate	PVS or STRIDE	100 Hz gyro, clean labels
Multi-surface / pothole detection	PVS	3 placements × 3 vehicles × road surface labels
Cross-condition comparison	AEGIS	35 trips, OBD, multi-session
Smartphone-only smartphone-grade IMU	STRIDE (Android) or UAH (iPhone)	Consumer hardware
Anything requiring redistribution in derivative form	Not PVS	NC-ND forbids derivative republishing

Adding a new source

If you know a public dataset that isn't listed here and meets the minimum bar (has at least GPS + IMU accel with a permissive license), follow Converting Open data and open a PR.

Minimum bar for inclusion:

• [ ] Permissive license documented (CC-BY / CC0 / Academic-OK)
• [ ] Stable DOI or permanent URL
• [ ] At least ts, lat, lon, ax/ay/az_mps2 obtainable
• [ ] Manifest validates against spec/schemas/telemachus_manifest_v0.8.json