浦项运河数据集：面向受限水域自主导航的多模态海事数据集
Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters
AI总结：
本研究发布了面向受限水域自主导航的Pohang Canal Dataset多模态海事数据集，含多传感器采集的7.5公里路线数据，覆盖多样场景与天气条件，可免费获取以支撑相关研究。
摘要：
本文提出了一个多模态海事数据集及其采集流程，旨在推动受限水域环境下的自主导航研究。该数据集包含通过多种感知与导航传感器获取的测量数据，涉及立体相机、红外相机、全向相机、三台LiDAR（激光雷达）、船用雷达、全球定位系统以及姿态航向参考系统。数据采集沿韩国浦项一段7.5公里长的路线开展，路线涵盖狭窄运河、内外港口及近岸区域。采集工作在多样的天气与视觉条件下进行。该数据集及其详细说明可通过链接https://sites.google.com/view/pohang-canal-dataset免费下载。
英文摘要：
This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environments. The dataset comprises measurements obtained using various perception and navigation sensors, including a stereo camera, an infrared camera, an omnidirectional camera, three LiDARs, a marine radar, a global positioning system, and an attitude heading reference system. The data were collected along a 7.5-km-long route that includes a narrow canal, inner and outer ports, and near-coastal areas in Pohang, South Korea. The collection was conducted under diverse weather and visual conditions. The dataset and its detailed description are available for free download at https://sites.google.com/view/pohang-canal-dataset.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
