Philos – Mooring Field
This dataset was collected on 2019/10/30 on the vessel R/V Philos in Boston Harbor near the New England Aquarium, Boston, MA. Skies were overcast and the weather was mild. The overall intent of testing that day was collection of typical harbor features. During testing, imagery of sailboats in a mooring field was captured, as well as a ferry preparing to dock. Duration of the dataset is approximately 00:02:27 (epoch 1572454214 to 1572454362.)
- Radar and Lidar pointcloud data can be displayed in the same coordinate frame via Rviz, for example, with radar Decay time = 2.5 s and Size = .1 and Lidar Size = .09. Note that sailboat lidar outlines appear to travel ahead of the related radar pointclouds, which refresh every 2.5 s.
- Good left and right video acquired at 12 fps and infrared at 30 fps
- Broadband radar channel 0 (range 500 m) and channel 1 (range 100 m) capture nearby sailboats and ferry.