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Collected using a Lexus RX 450h, the repository is designed to support research in multi-sensor fusion, state estimation, and vehicle localization under naturalistic driving conditions.\n\nThe recordings feature a mix of high-end and consumer-grade sensors to facilitate benchmarking and performance comparisons of algorithms. Position and orientation measurements are provided by a dual-antenna NovAtel OEM7 GNSS system and a single-antenna VectorNav VN-300 GPS. Inertial data are recorded from both an Epson G320N IMU and a BNO-085 IMU. The dataset also includes vehicle speed from the OBD interface, individual speeds for all four wheel centers, and real-time driver inputs from the accelerator and brake pedals."}}]},{"typeName":"subject","multiple":true,"typeClass":"controlledVocabulary","value":["Engineering"]},{"typeName":"producer","multiple":true,"typeClass":"compound","value":[{"producerName":{"typeName":"producerName","multiple":false,"typeClass":"primitive","value":"Hegedűs, Tamás"},"producerAffiliation":{"typeName":"producerAffiliation","multiple":false,"typeClass":"primitive","value":"SZTAKI staff"}},{"producerName":{"typeName":"producerName","multiple":false,"typeClass":"primitive","value":"Németh, Balázs"},"producerAffiliation":{"typeName":"producerAffiliation","multiple":false,"typeClass":"primitive","value":"SZTAKI staff"}}]},{"typeName":"depositor","multiple":false,"typeClass":"primitive","value":"Tuba, Balázs"},{"typeName":"dateOfDeposit","multiple":false,"typeClass":"primitive","value":"2026-06-25"}]},"geospatial":{"displayName":"Geospatial Metadata","name":"geospatial","fields":[]},"journal":{"displayName":"Journal Metadata","name":"journal","fields":[]}},"files":[{"label":"README.md","restricted":false,"version":1,"datasetVersionId":81094,"dataFile":{"id":2165078,"persistentId":"hdl:21.15109/ARP/WL34BV/XOSSVK","pidURL":"https://hdl.handle.net/21.15109/ARP/WL34BV/XOSSVK","filename":"README.md","contentType":"text/markdown","friendlyType":"Markdown Text","filesize":3827,"storageIdentifier":"s3-sztaki://concorda:19efece8f4b-b2374bccc057","rootDataFileId":-1,"md5":"fea726dbd6c2a3f60b5a006141f7e0bd","checksum":{"type":"MD5","value":"fea726dbd6c2a3f60b5a006141f7e0bd"},"tabularData":false,"creationDate":"2026-06-25","publicationDate":"2026-06-30","lastUpdateTime":"2026-06-30T07:00:03Z","fileAccessRequest":true}},{"label":"part1.mat","restricted":false,"version":1,"datasetVersionId":81094,"dataFile":{"id":2165081,"persistentId":"hdl:21.15109/ARP/WL34BV/H69DUU","pidURL":"https://hdl.handle.net/21.15109/ARP/WL34BV/H69DUU","filename":"part1.mat","contentType":"application/matlab-mat","friendlyType":"MATLAB Data","filesize":74536057,"storageIdentifier":"s3-sztaki://concorda:19efeb46543-55bed82c4e81","rootDataFileId":-1,"md5":"4ea1d3d4eac820c364a6af42c23ca8ca","checksum":{"type":"MD5","value":"4ea1d3d4eac820c364a6af42c23ca8ca"},"tabularData":false,"creationDate":"2026-06-25","publicationDate":"2026-06-30","lastUpdateTime":"2026-06-30T07:00:03Z","fileAccessRequest":true}},{"label":"part2.mat","restricted":false,"version":1,"datasetVersionId":81094,"dataFile":{"id":2165080,"persistentId":"hdl:21.15109/ARP/WL34BV/CNXOMK","pidURL":"https://hdl.handle.net/21.15109/ARP/WL34BV/CNXOMK","filename":"part2.mat","contentType":"application/matlab-mat","friendlyType":"MATLAB Data","filesize":26301229,"storageIdentifier":"s3-sztaki://concorda:19efeb45209-f48d0126ae1d","rootDataFileId":-1,"md5":"f9c35ce1c576505263c4581a2d1815de","checksum":{"type":"MD5","value":"f9c35ce1c576505263c4581a2d1815de"},"tabularData":false,"creationDate":"2026-06-25","publicationDate":"2026-06-30","lastUpdateTime":"2026-06-30T07:00:03Z","fileAccessRequest":true}},{"label":"part3.mat","restricted":false,"version":1,"datasetVersionId":81094,"dataFile":{"id":2165079,"persistentId":"hdl:21.15109/ARP/WL34BV/G5NUYV","pidURL":"https://hdl.handle.net/21.15109/ARP/WL34BV/G5NUYV","filename":"part3.mat","contentType":"application/matlab-mat","friendlyType":"MATLAB Data","filesize":26921321,"storageIdentifier":"s3-sztaki://concorda:19efeb44a63-70d3088bc920","rootDataFileId":-1,"md5":"70638bab64dcc5a7abbaa5fac767e528","checksum":{"type":"MD5","value":"70638bab64dcc5a7abbaa5fac767e528"},"tabularData":false,"creationDate":"2026-06-25","publicationDate":"2026-06-30","lastUpdateTime":"2026-06-30T07:00:03Z","fileAccessRequest":true}},{"label":"part4.mat","restricted":false,"version":1,"datasetVersionId":81094,"dataFile":{"id":2165077,"persistentId":"hdl:21.15109/ARP/WL34BV/71NOUP","pidURL":"https://hdl.handle.net/21.15109/ARP/WL34BV/71NOUP","filename":"part4.mat","contentType":"application/matlab-mat","friendlyType":"MATLAB Data","filesize":25983408,"storageIdentifier":"s3-sztaki://concorda:19efeb442a2-ec811fff5352","rootDataFileId":-1,"md5":"0f8b5237feaf35bf13081e134283495a","checksum":{"type":"MD5","value":"0f8b5237feaf35bf13081e134283495a"},"tabularData":false,"creationDate":"2026-06-25","publicationDate":"2026-06-30","lastUpdateTime":"2026-06-30T07:00:03Z","fileAccessRequest":true}}],"citation":"Tuba, Balázs, 2026, \"Free-Ride Vehicle Dynamics and Localization Data in the Mátra Mountain Range for Sensor Fusion\", https://hdl.handle.net/21.15109/ARP/WL34BV, ARP, V1"}}