Data collection platform in Hong Kong and California
Hong Kong
The platform for data collection in Hong Kong is a Honda Fit as illustrated in the following figure. The platform is equipped with the following sensors:
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1 3D LiDAR sensor (HDL 32E, Velodyne, 360 HFOV, +10~-30 VFOV, 80m range, 10Hz)
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1 INS (Xsens Mti 10, 100 Hz, AHRS)
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1 GNSS receiver (low-cost u-box M8T, GPS/BeiDou, 1Hz)
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1 Fish-eye Camera, Grasshopper3 5.0 MP (GS3-U3-51S5C-C), fisheye lens Fujinon FE185C057HA-1, 185 HFOV, 185 V-FOV, 10 Hz.
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1 NovAtel SPAN-CPT (high-grade RTK GNSS/INS integrated navigation system, 20 Hz, GPS/BeiDou/GLONASS)
The setup of the sensors is shown in the following figure. All the localization-related sensors are equipped in a compact sensor kit on the top of the vehicle.
The detail of the extrinsic parameters between sensors and intrinsic parameters of the camera can be found here!
California
The platform for data collection in California is a Toyota Prius as illustrated in the following Figure. Slightly different from platform 1, the following sensors are used in California:
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1 3D LiDAR sensor (RS-LiDAR-32, Robosense, 360 HFOV, +15~-25 VFOV, 200m range, 10Hz)
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1 INS (Xsens Mti 10, 100 Hz, AHRS)
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1 GNSS receiver (Ublox M8T, GPS/GLONASS, 1Hz)
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1 NovAtel FlexPak 6 GNSS (RTK GNSS, 10 Hz, GPS/GLONASS)
The locations of the sensors on the vehicle are shown in the following figure. All the localization-related sensors are equipped in a compact sensor kit. The RTK GNSS is employed to provide reference localization information.
The detail of the extrinsic parameters between sensors and intrinsic parameters of the camera can be found here!
