CANOE (Canadian Aquatic Navigation for Observation of the Environment) Dataset

This autonomous marine navigation dataset includes data from a 360-degree Navtech radar, a 128-beam Ouster OS1 lidar with integrated IMU, a Teledyne Bumblebee stereo camera, Oculus M3000d imaging sonar, motor inputs, and GNSS. This dataset was collected on a lake and reservoir in Ontario, Canada. The intended purpose of this dataset is to enable the development and benchmarking of autonomous navigation algorithms in aquatic environments. In the future, we hope to release localization and odometry benchmarks.本自主水上航行数据集涵盖多类传感与系统数据：360度Navtech雷达、搭载集成惯性测量单元（IMU）的128线Ouster OS1激光雷达（LiDAR）、Teledyne Bumblebee立体相机、Oculus M3000d成像声呐、电机输入数据以及全球导航卫星系统（GNSS）数据。该数据集采集于加拿大安大略省的湖泊与水库区域，其设计目标为支持水生环境下自主航行算法的开发与性能基准测试。未来我们计划发布定位与里程计相关的基准测试数据集。