@article{huang2010dgcdata,
    author = {Albert S. Huang and Matthew Antone and Edwin Olson and David Moore and Luke Fletcher and Seth Teller and John Leonard},
    title = {A high-rate, heterogeneous data set from the DARPA Urban Challenge},
    journal = {{International Journal of Robotics Research (IJRR)}},
    volume = {29},
    number = {13},
    month = {Nov.},
    year = {2010}
}