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.