Contaminations on Lidar Sensor Covers: Performance Degradation including Fault Detection and Modeling as Potential Applications

Data description of contamination measurements with lidar sensors RIEGL LD05-A20 and Ouster OS1-64

Photos of the measurement setup

We provide photos of the measurement setup and the contaminations applied in the folder "/photos".

Riegl LD05-A20 data

The data of the Riegl LD05-A20 can be found in the folder "riegl_LD05-A20_full_waveforms" - one file per experiment. An example notebook for reading the data is provided in "/notebooks/example_riegl_LD05-A20.ipynb". Note that the files contain only the prominent peaks of the full waveform calculated by the V08Wave software provided by RIEGL. If you are interested in the entire full waveforms, please contact the authors.

Ouster OS1-64

The data of the Ouster OS1-64 can be found in the folder "ouster_OS1-64_point_clouds" - one folder per experiment. An example notebook for reading the data is provided in "/notebooks/example_ouster_OS1-64.ipynb". The python package pointcloudset (https://github.com/virtual-vehicle/pointcloudset) and its documentation is suggested for further data analytics of the point cloud data.