Automotive Lidar and Vibration: Resonance, Inertial Measurement Unit and Effects on the Point Cloud

This data repository contains vibration tests of an Ouster OS1-64 lidar including a docker based python environment and documentation.

It consists of movement data, Fotos, IMU data, pointclouds and a ground truth measurements with an Riegl VZ6000 laser scaner.

For further details see the linked publication and the example.ipynb notebook.

Quick start

• download the repo

• unzip the archive

• install VS code with the remote development extension

• install docker desktop

• open the folder in a new VS code window

• Say "yes" to open the folder inside a docker container

• wait for the container to start

• open the example jupyter notebook

Structure

├── .devcontainer                       .... VS code devcontainer (arm64 and amd64)

├── Acceleromenter_A_z_deflection       .... Accelerometer data

├── Foto                                .... Fotos of the setup

│   ├── VZ6000                          .... Fotos of the ground truth measurements

│   └── test_setup                      .... Fotos of the test setup

├── Notebook                            .... A jupyter notebook with examples

├── OS1_64_IMU                          .... Ouster IMU data

├── OS1_64_pointcloud                   .... point cloud data

├── VZ6000_groundtruth                  .... Ground truth data from Riegl VZ6000

    └── targets                         .... contains 2 different sets of reference

│       ├── scene_aligned_by_reflectors

│       └── targets_aligned

└── files.csv                           .... an overview of the files and meta data