The System of HeRCULES

Stereo Camera Data

• The stereo camera data was acquired at a frequency of 15Hz and saved as a png file. Stereo right and stereo left images are stored in separate folders, each containing 1440x1080, 8-bit Bayer pattern RGB images. The filename of each png file corresponds to the acquisition timestamp, and these timestamps are also recorded in stereo_stamp.csv.

Radar Data

• The spinning radar data was acquired at a frequency of 4Hz and saved as a Polar image png file. Subsequently, we converted all the saved polar images into Cartesian images, and both formats are provided in separate folders. The filename of each png file corresponds to the acquisition timestamp, and these timestamps are also recorded in datastamp.csv. The file player releases the topics grounded on this timestamp file.

Radar Data

• The 4D FMCW radar data was acquired at a frequency of 20Hz and saved as a bin file. As a distinguishing feature of our dataset, we also provide filtered object point cloud data obtained through the ars548 RDI radar driver.  The filename of each binary file corresponds to the acquisition timestamp, and these timestamps are also archived in datastamp.csv. The file player releases the topics grounded on this timestamp file.

LiDAR Data

• The FMCW LiDAR was acquired at a frequency of 10Hz and saved as a bin file in the format depicted in the above image. The filename of each binary file corresponds to the acquisition timestamp, and these timestamps are also archived in datastamp.csv. The file player releases the topics grounded on this timestamp file.

IMU Data

• The data structure for the IMU is organized in the following order: [timestamp, qx, qy, qz, qw, eul x, eul y, eul z, gyr x, gyr y, gyr z, acc x, acc y, acc z, mag x, mag y, mag z]. This information is stored in the 'sensor_data/xsens_imu.csv' file. Additionally, it is broadcasted as a ROS topic under the name '/imu/data_raw', which publishes data in the format [timestamp, quaternion, angular_velocity, linear_acceleration] at a frequency of 100Hz.

INS Data

• The INS data is stored in the 'sensor_data/inspva.csv' file, organized in the following sequence: [timestamp, latitude, longitude, height, north velocity, east velocity, up velocity, roll, pitch, azimuth, status]. This data serves as the foundation for creating the ground truth and was acquired at a frequency of 50Hz.

• You can find detailed explanations for each Inertial Solution Status stored in 'sensor_data/inspva.csv' at the following link:  https://docs.novatel.com/OEM7/Content/SPAN_Logs/INSATT.htm#InertialSolutionStatus