List of Datasets

Marine surface

Pohang Canal

Maritime multimodal navigation and sensor fusion

Six boat sequences combine LiDAR, marine radar, visible/thermal cameras and navigation streams, with a fused trajectory baseline.

Metadata: Complete Metadata source documented Released 2023

Primary places to inspect, download, read about, or reproduce the dataset.

Supplementary

Not reported

Quick facts

Vehicle type
Marine surface
Environment
Outdoor
Data origin
Real-world
Sensor count
13
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

4 reported

IMUs

4 reported

GNSS

1 reported

LiDAR

3 reported

Radar

1 reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF LiDAR SLAM Modified LIO-SAM with GNSS/AHRS Not reported Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Released fused baseline reuses input LiDAR/AHRS and GNSS; not an independently measured trajectory.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Official repository documents released intrinsic/extrinsic parameters. Complete raw calibration sessions and independently measured residual accuracy remain unknown.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Six runs cover canal, port and coastal waters; four are daytime and two nighttime. The roughly 7.5 km route differs from 43.61 km summed across the recordings.

Omnidirectional imagery is absent from pohang01 and pohang05. The camera system supplies six views; the current generic effective-count display does not expand arbitrary six-view systems.

GNSS/RTK availability is limited in identified sequences and under bridges. The released SLAM baseline reuses LiDAR/AHRS/GNSS inputs; it is not an independent surveyed trajectory.

Thermal calibration can cause irregular intervals, LiDARs are asynchronous and radar uses angle timestamps. Exact sensor models, native inertial rates and achieved timing/reference accuracy remain unknown.

Cameras

Camera 1

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
2048 x 1080
Rate
10 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported

Camera 2

Model
Not reported
Setup
Mono
Count
1
Effective cameras
1
Modality
Thermal
Resolution
640 x 512
Rate
10 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Thermal calibration causes irregular intervals.

Camera 3

Model
Not reported
Setup
Multi Camera
Count
1
Effective cameras
1
Modality
Rgb
Resolution
2464 x 2048
Rate
10 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One physical omnidirectional camera system supplies six directional views. No such images are provided for nighttime pohang01 and pohang05; view count is not physical device count.

IMUs

AHRS inertial measurements

Model
Not reported
Count
1
Accel / gyro
Not reported

LiDAR embedded IMUs

Model
Not reported
Count
3
Accel / gyro
Not reported

GNSS

GNSS 1

Model or name
Not reported
Count
1
Rate
5 Hz
GNSS type
RTK
Position output
Available
Velocity output
Not reported
Heading output
Available

LiDAR

LiDAR 1

Model or name
LiDAR 1
Count
1
Dimensions
3
Rate
10 Hz
Channels
64
Range
120 m

LiDAR 2

Model or name
LiDAR 2
Count
2
Dimensions
3
Rate
10 Hz
Channels
32
Range
120 m

Radar

Radar 1

Count
1
Released data
Scanning power images
Frame rate
Not reported
Doppler velocity
Not available
Elevation angle
Not available
Configured range
50–1654.8 m
Field of view
360° H (per radar)
File format
Polar PNG
Notes
X-band FMCW; 1–1.3 Hz scan rotation, 50–1654.8 m. Per-angle timestamps provided.

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
chung2023pohangcanal

BibTeX

@misc{chung2023pohangcanal,
  author = {{Dongha Chung} and {Jonghwi Kim} and {Changyu Lee} and {Jinwhan Kim}},
  title = {Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters},
  year = {2023},
  url = {https://arxiv.org/abs/2303.05555v1}
}

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