Embedded Files
Acquisition platform
Acquisition platform
The Sensor System
The Sensor System
Sensor Category
Sensor Category
FLIR BFS-U3-16S7C camera (2 cameras， each 20Hz)
Velodyne VLP-16 3D LiDAR (10Hz)
Self-made synchronization module (10 and 20Hz)
NovAtel PwrPak7D-E1 navigation system (IMU 125Hz and GPS 10Hz)
Among the dataset we provided, pointclouds from LiDAR, positioning solution and raw measurements from GNSS receiver, and mono-colored images from cameras were strictly synchronized regardless of the triggering moment and the timestamp of data frames. Thereby, the timestamps achieve a microsecond level of precision. Inertial measurements' trigger moment would not be more than 8 ms earlier or later than their due rhythm.
Sensor Calibration
Sensor Calibration
We provide intrinsics including IMU and Camera and extrinsics for Stereo, Stereo-IMU, Stereo-LIDAR and LIDAR-IMU. The sensor coordinate system relationship is shown on the left and above. All parameter files can be downloaded in the Download page.
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