System
A 12-person cruise boat (Aquapatio) with 7.9 m in length and 2.6 m in breadth was used for data collection
Sensors
Sensors
Perceptual sensors: Two visual cameras as a stereo camera, an infrared camera, three 3D LiDARs, a radar, and an omnidirectional camera
Navigation sensors: Two GPS antennas connected to GNSS-RTK receiver and an AHRS
Data Collection System
Data Collection System
We used three computers for data collection
Module A [Intel NUC8EH]: Intel i7-8559U CPU with 8GB memory
Module B [Intel NUC9QN]: Intel i9-9980HK CPU with 32GB memory
Module C [Intel NUC8HV]: Intel i7-8809G CPU with 32GB memory
All system times were periodically synchronized with Module C
Multi-threading was used for Module B to prevent any data loss