Dataset
The sensor suite
Stereo Thermal Camera
Stereo Camera
A single LiDAR
GPS
IMU
Data Format
Stereo Thermal camera
PNG Format
Stereo RGB
PNG Format
LiDAR
binary (same as KITTI)
IMU, GPS
CSV Format
Thermal Camera Data (Stereo)
Thermal stereo images were acquired at 10Hz frequency and saved in 14-bit PNG format to support various applications. Since the left and right timestamps are different due to the influence of NUC, stereo_thermal_14_left and stereo_thermal_14_right timestamps are specified in sensor_data/data_stamp.csv. When using a file player, the topic is configured to be published according to each timestamp.
RGB Camera Data (Stereo)
RGB stereo images were acquired at a frequency of 10Hz and saved as PNG files in RGGB format with an 8-bit Bayer pattern. When using a file player, it is configured to publish a topic with a 3-channel image, and an external trigger is used to synchronize the left and right images. The image was stored in the image/stereo_left, and image/stereo_right folders, respectively, and the timestamp was stored in sensor_data/data_stamp.csv.
LiDAR Data
LiDAR data was acquired at 10Hz frequency and stored as a bin file in the form of [x, y, z, intensity] in sensor_data/ouster. The name of each bin file is the timestamp when the data is acquired, and the timestamp is stored in sensor_data/ouster_stamp.csv and data_stamp.csv, respectively.
IMU Data
IMU data is [timestamp, quaternion x, quaternion y, quaternion z, quaternion w, Euler x, Euler y, Euler z, gyro x, gyro y, gyro z, acceleration x, acceleration y, acceleration z, magnetic-field x, magnetic-field y, magnetic-field z] in the order of sensor_data/xsens_imu.csv. When using the file player, the '/imu/data_raw' topic publishes [timestamp, orientation(quaternion), angular_velocity, linear_acceleration], and the '/xsens_imu_data' topic publishes [timestamp, quaternion, eular, gyro, acceleration, magneticfield].
RTK GPS Data
GPS: GPS data was stored in sensor_data/gps.csv in the order of [timestamp, latitude, longitude, altitude, position_covariance].
INS: INS data was stored in sensor_data/inspva.csv in the order of [timestamp, latitude, longitude, height, north velocity, east velocity, up velocity, roll, pitch, azimuth, status].