IAMCV Interaction of Autonomous and Manually Controlled Vehicles

The IAMCV dataset comprises different types of data:

• Point clouds: The point clouds from the three LIDARs were stored using PCD file format. All the original fields that came from the LIDARs were also stored in the file:
  • x,y,z: coordinates of the target in the sensor frame of reference.
  • range: distance from the sensor to the target in mm.
  • ambience: or near IR, is the ambience level of infrared sensed by the receiver when the transmitter is not pointing to that area.
  • intensity: level of the signal in the receiver.
  • reflectivity: reflectivity level of the target.
  •  ring: LIDAR's layer. 
• Images: Similarly, the images from the three cameras were stored using PNG file format. The images are stored without rectification and the intrinsic parameters are provided. The images of the dataset were anonymized before publishing by blurring faces and license plates.

Regarding the naming, files from cameras and LIDARs were named using the format "nn_sensor_tttttttttt.tttt.ext" as follows:

• nn: stands for the number of the recording. Each recording has a unique two-digit identifier.
• sensor: indicates whether the sensor is a camera or a LIDAR and its position. e.g., "camera_c" stands for the camera located in the center of the vehicle, and "lidar_l" stands for the LIDAR located in the left side of the vehicle.
• tttttttttt.tttt: it corresponds to the timestamp of the frame.
• ext: file extension .pcd or .png

The GNSS/INS files adopt the convention:

• “nn_gps.csv”:  raw gps data with timestamps.
• “nn_imu.csv”: raw IMU data with timestamps.
• “nn_nav_odom.csv”: filtered navigation data (Kalman filtered GPS + IMU) with timestamps.

For calibration, the files use the convention:

• “nn_camera_x_intrinsics.yaml”: contains the intrinsic calibration for camera “x” (“x” meaning the location of the camera: “r”, ”l” or “c”).
• “nn_tf.csv”: this file contains the extrinsic calibration of the sensors.