Dataset of point cloud data obtained from indoor experiment with two 3D-image sensors

DescriptionThis data set contains 100,000 pcd files taken by LiDAR, a 3-D image sensor, of a vehicle orbiting an indoor field.Data AcquisitionThe indoor field was built as a 1/60 scale model of an intersection, where two vehicles kept moving along pre-fixed tracks independently of each other.The size of the vehicles was 0.040 m × 0.035 m × 0.240 m We captured the indoor field by two LiDAR sensor units, which was commercialized by Velodyne.The point cloud data obtained from one LiDAR was calibrated by relative coordinates between the two LiDAR units.We utilized the rectangular with 1.5 m × 1.5 m × 0.218 m in the space.Sensors configurationsLiDAR VLP-16 of VeldyneFrame rate = 10 fpsData packet length = 1248 bytesData packet interval = 1.327 msRange of vertical / elevation angle = [-15°, 15°]Motor rotation speed = 600 RPM

本数据集收录了由激光雷达（LiDAR）三维图像传感器采集的10万份pcd文件，记录了一辆车辆在室内场域内运行的轨迹。数据采集方面，室内场域被构建为交叉口的1/60比例模型，其中两辆车辆沿预先设定的轨道独立行驶。车辆尺寸为0.040米×0.035米×0.240米。我们通过两套Velodyne公司生产的商业级LiDAR传感器单元捕捉室内场域。由其中一套LiDAR获取的点云数据通过两套LiDAR单元之间的相对坐标进行了校准。在空间中，我们使用了1.5米×1.5米×0.218米的矩形区域。传感器配置方面，采用Velodyne的VLP-16型LiDAR传感器，帧率为10帧每秒，数据包长度为1248字节，数据包间隔为1.327毫秒，垂直/仰角范围为[-15°, 15°]，电机转速为600转每分钟。