Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

This dataset presents a multi-modal maritime dataset acquired in restricted waters in Pohang, South Korea. The sensor suite is composed of three LiDARs (one 64-channel LiDAR and two 32-channel LiDARs), a marine radar, two visual cameras used as a stereo camera, an infrared camera, an omnidirectional camera with 6 directions, an AHRS, and a GPS with RTK. The dataset includes the sensor calibration parameters and SLAM-based baseline trajectory. It was acquired while navigating a 7.5 km route that includes a narrow canal area, inner and outer port areas, and a near-coastal area. The aim of this dataset is to facilitate research on autonomous surface vehicles.

本数据集展示了在韩国釜山限制水域采集的多模态海事数据集。传感器组由三个激光雷达（一个64通道激光雷达和两个32通道激光雷达）、海洋雷达、用于立体视觉的两个视觉摄像头、红外摄像头、具有六个方向的全方位摄像头、姿态航向参考系统（AHRS）以及带有RTK功能的全球定位系统（GPS）组成。数据集包含了传感器校准参数和基于SLAM的基线轨迹。该数据集在导航7.5公里路线期间采集，路线包括狭窄水道区域、内外港区域以及近海岸区域。本数据集旨在促进自主水面航行器研究。

搜集汇总

背景与挑战

背景概述

Pohang Canal Dataset是一个多模态海事数据集，包含多种传感器数据（如LiDAR、雷达、摄像头等），覆盖7.5公里的受限水域航行路线，旨在支持自主水面车辆的研究。数据集还提供传感器校准参数和SLAM基线轨迹，适用于计算机视觉、机器人学和海洋导航等领域的研究。