Dataset of point cloud data obtained from indoor experiment with two 3D-image sensors

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.

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 configurations

LiDAR VLP-16 of Veldyne

• Frame rate = 10 fps
• Data packet length = 1248 bytes
• Data packet interval = 1.327 ms
• Range of vertical / elevation angle = [-15°, 15°]
• Motor rotation speed = 600 RPM