LiDAR Point Cloud

The PID is collected by small unmanned aerial vehicles equipped with LiDAR.

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Description

This data set contains 100,000 pcd files taken by LiDAR, a 3-D image sensor, of a vehicle orbiting an indoor field.

Data Acquisition

The 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.

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LiDAR point cloud data serves as an machine vision alternative other than image. Its advantages when compared to image and video includes depth estimation and distance measruement. Low-density LiDAR point cloud data can be used to achieve navigation, obstacle detection and obstacle avoidance for mobile robots. autonomous vehicle and drones. In this metadata, we scanned over 1200 objects and classified it into 4 groups of object namely, human, cars, motorcyclist.

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