论文标题
libre：多个3D激光雷达数据集
LIBRE: The Multiple 3D LiDAR Dataset
论文作者
论文摘要
在这项工作中，我们介绍了Libre：LiDAR基准测试和参考，这是一种具有10种不同LIDAR传感器的首个数据集，涵盖了一系列制造商，型号和激光配置。独立于每个传感器捕获的数据包括三种不同的环境和配置：静态目标，将对象放置在已知距离，并根据受控环境中的固定位置进行测量；不利的天气，那里是从移动车辆中测量静态障碍物的，在气象室中捕获，在气象室中暴露于不同条件（雾，雨水，强光）；最后，动态的交通，在公共城市道路上驱动的车辆，在一天的不同时间中捕获了动态物体，包括支持摄像机，红外成像和绕线设备等传感器。 Libre将为研究界做出贡献（1）为当前可用的激光雷达提供公平比较的手段，（2）在开发和调整基于激光雷尔的感知算法方面，便利了现有的自动驾驶汽车和与机器人相关的软件的改善。
In this work, we present LIBRE: LiDAR Benchmarking and Reference, a first-of-its-kind dataset featuring 10 different LiDAR sensors, covering a range of manufacturers, models, and laser configurations. Data captured independently from each sensor includes three different environments and configurations: static targets, where objects were placed at known distances and measured from a fixed position within a controlled environment; adverse weather, where static obstacles were measured from a moving vehicle, captured in a weather chamber where LiDARs were exposed to different conditions (fog, rain, strong light); and finally, dynamic traffic, where dynamic objects were captured from a vehicle driven on public urban roads, multiple times at different times of the day, and including supporting sensors such as cameras, infrared imaging, and odometry devices. LIBRE will contribute to the research community to (1) provide a means for a fair comparison of currently available LiDARs, and (2) facilitate the improvement of existing self-driving vehicles and robotics-related software, in terms of development and tuning of LiDAR-based perception algorithms.
