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 mWe 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 configurationsFrame rate = 10 fpsData packet length = 1248 bytesData packet interval = 1.327 msRange of vertical / elevation angle = [-15°, 15°]Motor rotation speed = 600 RPM