USVInland Dataset

Acquisition Platform

Multiple sensors are equipped on our platform to collect complementary data, so as to enable solutions base on the common sensors used in autonomous driving. The sensors include: a 16-beam Lidar, a stereo color camera, three millimeter-wave radars, an INS (GPS and IMU). The image of the platform and the sensor location diagram are shown here.

Detailed information about the all sensors are listed as follows:

Sensor
Make and Module
Description
Lidar
LeiShen Intelligent System LS 16-Channel LiDAR C16
905nm, 16-beam, HFoV 360°× VFoV 32°, 10Hz, Max Range 100m, Range Resolution 2cm, Horizontal Angular Resolution 0.18°
Stereo Camera with IMU
Mynteye S2110-95
RGB: 640 × 400/1280 × 800, 20Hz, HFoV 95°× VFoV 50°× DFoV 112°, Global Shutter, 80mm Baseline, Hardware Synchronized; IMU: 200Hz, 6-axis
3 × Radar
Texas Instrument IWR6843
10Hz, HFoV 94° × VFoV 50° (-6dB), Range Resolution 0.045m, Maximum Unambiguous Range 18.08m, Maximum Radial Velocity 3.96m/s, Radial Velocity Resolution 0.25m/s
INS
IMU: LPMS-IG1-CAN; GPS:U-Blox ZED-F9
IMU 50Hz, 6-axis, 2 × GPS: U-Blox ZED-F9, 5Hz, Receive RTK Signal, Include Moving Base Support