Marine surface
MOANA
Maritime radar navigation and object detection
Seven fishing-boat and yacht sequences combine X-band and W-band scanning radar with stereo images, LiDAR and GNSS; Single Island includes 2D object boxes.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine surface
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 6
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| Not reported | Other | GNSS reference · Hemisphere V500 | Not reported | Not reported | Unknown |
Reference provenance
Unknown
|
|
||||||
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Known pattern board for camera intrinsics; stationary planar objects for camera–LiDAR extrinsics.
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Extrinsic text files use the GNSS base frame. Radar alignment uses image features, LiDAR–radar alignment uses phase correlation, and unobservable extrinsic components use CAD. Intrinsic calibration is described, but released intrinsic files and raw calibration recordings are not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
GNSS references contain positional drift and Port delays; refined ground truth remains future work.
Object annotations cover Single Island only, using one navigation-avoidance category and tracked 2D boxes.
X-band updates refresh one third of the image per second rather than delivering independent full scans at 1 Hz.
LiDAR is sparse outside berthing areas.
W-band data can be lost in Twins Island and predominantly blank in Outer Port.
Wave-induced wobble and multipath from large vessels challenge radar continuity and tracking.
Cameras
forward-stereo
- Model
- Not reported
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Not Reported
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Forward stereo JPG images; no camera model, frame rate or shutter is established.
IMUs
Not reported
GNSS
Hemisphere V500
- Model or name
- Hemisphere V500
- Count
- 1
- Rate
- Not reported
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
LiDAR 1
- Model or name
- LiDAR 1
- Count
- 1
- Dimensions
- 3
- Rate
- Not reported
- Channels
- Not reported
- Range
- Not reported
Radar
SIMRAD HALO4
- Count
- 1
- Released data
- Scanning power images
- Frame rate
- 1 Hz
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- Not reported
- Field of view
- Not reported
- File format
- PNG
- Notes
- Cartesian images. Adjusted range is 2498 m at 2.44 m/px for Port and 3328 m at 3.25 m/px for Island. These replace the nominal SDK range estimates. One third of each image is refreshed per 1 Hz update; a full rotation takes three seconds. Count describes one vessel setup, not a sum across both platforms.
Navtech RAS6
- Count
- 1
- Released data
- Scanning power images
- Frame rate
- Not reported
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- 600 m
- Field of view
- Not reported
- File format
- PNG
- Notes
- Polar-coordinate images at 0.175 m/px. Port uses RAS6-DEV-A with horizontal rays; Island uses RAS6-DEV-X with rays reaching below radar height to suit the taller vessel. These are alternative vessel configurations represented as one family, not simultaneous extra units. The paper does not establish a released W-band frame rate.
Pitot tube
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- JSON
- Class count
- 1
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Available
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
Notice a specific issue after reviewing the page?
Report an inaccuracy