Selected Environmental Parameters affecting Autonomous Vehicle (AV) Sensors

This dataset contains LiDAR (Light Detection and Ranging) sensor return intensities of the Velodyne VLS-128 LiDAR sensor against various automotive paint panels. The panels have been tested at different angles and distances as well as different surface conditions such as dry and wet. The LiDAR sensor was tested at a constant rotation speed of 540 rpm and the return intensity values are on a scale of 0 to 255. The automotive paints were selected based on common colours seen on Singapore's roads. The paint descriptions have been provided for each data file. The sensor was set up on a testing rig at a constant height in a controlled environment. The paint panels were tested with and without the presence of water droplets from a spray bottle.