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.
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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.
aws s3 ls --no-sign-request s3://pohang-canal-dataset/