激光雷达
雷达
计算机科学
遥感
雷达工程细节
三维雷达
雷达锁定
雷达成像
计算机视觉
极高频率
人工智能
地质学
电信
作者
Andrew Kramer,Kyle Harlow,C. R. Williams,Christoffer Heckman
标识
DOI:10.1177/02783649211068535
摘要
This work presents two different forms of dense, high-resolution radar data from two frequency modulated continuous wave radar sensors, along sparse radar pointclouds produced by one of the radar sensors. In addition, all datasets include 3D lidar and inertial measurements, and a lidar-based simultaneous localization and mapping pose estimation. Over 2 h of 6D pose data was generated across 52 datasets collected in highly diverse 3D environments including lab spaces, outside and inside large buildings, urban walkways, and a mine. One dataset, from the ASPEN Lab, also includes precision groundtruth generated from a motion capture system. Intrinsic radar calibration and measured extrinsic sensor position calibrations are also provided along with python based development tools to interact with the various datasets. This data is designed to assist with generating radar based localization algorithms and calibrations between radar and other sensors.
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