Vehicle Setup
Sensor Specifications
Each vehicle is mounted with one LiDAR, three narrow angle RGB cameras, three wide angle RGB fisheye cameras, one IMU, and one GPS. All sensor data sampled to 10Hz for synchronization.
| Sensor | Details |
|---|---|
| 1 \(\times\) LiDAR | 10Hz, 128 channel, horizontal FoV \(360^\circ\), vertical FoV \(40^\circ\) |
| 3 \(\times\) RGB Camrea | 10Hz, original resolution \(1440 \times 928\), sampled to \(720 \times 464\), Horizontal FoV \(60^\circ\), Vertical FoV \(40^\circ\) |
| 3 \(\times\) Fisheye Camrea | 10Hz, original resolution \(1240 \times 728\), sampled to \(620 \times 364\), horizontal FoV \(140^\circ\), vertical FoV \(88^\circ\) |
| 1 \(\times\) IMU | 10Hz, velocity, angular velocity, acceleration |
| 1 \(\times\) GPS | 10Hz, longitude, latitude, elevation |
Sensor Locations & coordinate frames
