内河河道无人驾驶多传感器融合数据集

随着自动驾驶技术的发展，自动驾驶场景逐渐由路面扩展至水上，无人船（Unmanned Surface Vehicle,USV）及其相关应用成为近年来研究热点之一。其中，内河河道无人船具有极大的应用价值，如内河自主运输，测绘，水质检测，和河道垃圾清理等。内河河道相对狭窄和复杂的环境，对无人船的定位和感知带来了新的挑战，研究人员花了四个月的时间，利用自家的自动驾驶船，在不同的内陆河道场景中采集数据，总行驶距离超过上千公里，船上安装多种传感器，包括多种激光雷达、立体彩色摄像头、多个毫米波雷达、INS（GPS和IMU）等。With the advancement of autonomous driving technology, its application scenarios have gradually expanded from land roads to water surfaces, and Unmanned Surface Vehicles (USVs) and their related applications have become one of the research hotspots in recent years. Among them, USVs deployed in inland river channels possess considerable application value, including inland water autonomous transportation, surveying and mapping, water quality detection, river channel garbage clearance, and other scenarios. The relatively narrow and complex environment of inland river channels poses new challenges to the positioning and perception capabilities of USVs. Researchers spent four months collecting data across various inland river channel scenarios using their self-developed autonomous surface vessels, with a total driving distance exceeding 1,000 kilometers. These vessels were equipped with multiple types of sensors, including various LiDARs, stereo color cameras, multiple millimeter-wave radars, and INS (GPS and IMU), among others.

搜集汇总

背景与挑战

背景概述

该数据集由陕西欧卡电子智能科技有限公司提供，目前处于知识产权登记公示阶段，数据来源为企业数据，但详情页未提供数据集的具体内容和特征描述。