Automotive Lidar and Vibration: Resonance, Inertial Measurement Unit and Effects on the Point Cloud

This data repository contains vibration tests of an Ouster OS1-64 lidar including a docker based python environment and documentation.

It consists of movement data, Fotos, IMU data, pointclouds and a ground truth measurements with an Riegl VZ6000 laser scaner.

For further details see the linked publication and the example.ipynb notebook.

Quick start

download the repo

unzip the archive

install VS code with the remote development extension

install docker desktop

open the folder in a new VS code window

Say "yes" to open the folder inside a docker container

wait for the container to start

open the example jupyter notebook

Structure

├── .devcontainer                       .... VS code devcontainer (arm64 and amd64)

├── Acceleromenter_A_z_deflection       .... Accelerometer data

├── Foto                               .... Fotos of the setup

│   ├── VZ6000                         .... Fotos of the ground truth measurements

│   └── test_setup                     .... Fotos of the test setup

├── Notebook                           .... A jupyter notebook with examples

├── OS1_64_IMU                         .... Ouster IMU data

├── OS1_64_pointcloud                   .... point cloud data

├── VZ6000_groundtruth                 .... Ground truth data from Riegl VZ6000

  └── targets                         .... contains 2 different sets of reference

│       ├── scene_aligned_by_reflectors

│       └── targets_aligned

└── files.csv                           .... an overview of the files and meta data