- 4 x GoPro Hero 5 capturing at 10Hz with 1080p in a 360 degree surround view environment (front-view, rear-view, left-view, and right-view).
- Rendered images from the TomTom visual route guidance system.
- 21 road attributes such as distance to next traffic light or the road curvature from the Navigational Map of HERE Technologies.
- Ego-vehicle's speed and steering wheel angle recorded from the CAN bus.
