The Sequences of MOANA Dataset

• The Port sequence represents a highly structured, industrial environment, characterized by strong and consistent detections of the surrounding area. This sequence is primarily designed for odometry or SLAM applications, where generating a reliable map of the port is the main objective. Port sequences undergo periodical GPS interference.

• Near Port environment primarily emphasizes W-band radar due to its superior performance in short-range detection, as X-band radar exhibits limitations in this condition.

• Outer Port environment focuses on X-band radar, as W-band radar’s limited detection range renders it ineffective in certain areas.

Outer Port Sequence contains higher sensor frequency for the lower sensor level development (10Hz LiDAR and 10Hz X-band Radar data)

• The Island sequence presents an unstructured, sporadic environment dominated by natural elements. In these sequences, surrounding detections are inconsistent, making challenges to recognize the same locations reliably.

• Single Island features the shortest route with simple loop around the island.

• Twins Island experiences sporadic data loss in the W-band radar. The vessel also navigates through the narrow waterway between the islands, which requires the robust compensation between X-band and W-band radar.

• Complex Island is the largest island with frequent directional changes.

• Island Expedition encompasses all three islands above.

• Seaside Area incorporates both seashore and container loading zone, which contains both structured and unstructured area within a single sequence.