Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

Description

This dataset presents a multi-modal maritime dataset acquired in restricted waters in Pohang, South Korea. The sensor suite is composed of three LiDARs (one 64-channel LiDAR and two 32-channel LiDARs), a marine radar, two visual cameras used as a stereo camera, an infrared camera, an omnidirectional camera with 6 directions, an AHRS, and a GPS with RTK. The dataset includes the sensor calibration parameters and SLAM-based baseline trajectory. It was acquired while navigating a 7.5 km route that includes a narrow canal area, inner and outer port areas, and a near-coastal area. The aim of this dataset is to facilitate research on autonomous surface vehicles.

Update Frequency

Not updated

License

CC BY-NC 4.0

Documentation

https://sites.google.com/view/pohang-canal-dataset/home

Managed By

See all datasets managed by MORIN.

Contact

morin-lab@kaist.ac.kr

How to Cite

Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters was accessed on DATE from https://registry.opendata.aws/pohang-canal-dataset.

Usage Examples

Tools & Applications

• Ros Message Player for Pohang Dataset by Dongha Chung
  
• ROS package for LiDAR to image of Pohang Canal Dataset by Dongha Chung
  

Publications

• Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters by Dongha Chung, Jonghwi Kim, Changyu Lee, Jinwhan Kim