Dataset for Multi-LiDAR Extrinsic Calibration in Maritime Scenarios

The dataset provides ROS-data in .mcap file format of several LiDAR sensors for the purpose of extrinsic multi-LiDAR calibration in maritime scenarios. The dataset contains seven scenes with waterside faced sensors with a small boat and a calibration target passing by, two scenes with landside facing sensors and a calibration target moved on ground as well as an additional landside scene with wearing a highly reflective warning vest instead of a moving calibration target. Further, the ground-truth relative poses between two sensors are provided.