Sensor Setup

This page provides additional information about the recording platform and sensor setup we have used to record this dataset. Our recording platform is a Kia Sorento. We use the following sensors:

• 2× PointGrey Flea3 RGB camera (FL3-GE-13S2C-C), 1.3 Mega-pixels, 1/3” Sony ICX445 CCD, 1280×960, 400∼ 750nm, GigE, Computar Optics 12mm Lens, 26^◦(H) × 22.1^◦ (V)
• 1× FLIR A655Sc thermal camera, ∼50Hz, 14bits data, 640×480, 17um detector pitch, 7.5∼14um, GigE, 25^◦(H) × 19^◦ (V) with 24.3mm lens
• 1× Velodyne HDL-32E 3D LiDAR, 10Hz, 32beams, 0.16 degree angular resolution, 2cm distance accuracy, collecting 0.7 million points/second, field of view: 360^◦ horizontal, 41.34^◦ vertical, range: ∼70m
• 1× OXTS RT2002 inertial and GPS navigation system, 6 axis, 100Hz, L1/L2 RTK, resolution: 0.02m/0.1^◦