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This dataset contains the 4D point cloud data from LiDAR sensors collected from fully autonomous and self-driving Indy race cars which raced in the Indy autonomous challenge. The dataset is in nuScenes format and is divided into 7,150 sweeps and 1,199 samples which contain fused sensor data from 3 LiDARs equipped by the vehicle. This dataset's scenario is PoliMove team’s Multi-Agent Slow on LVMS racetrack. Each .pcd file contains 4 dimensional data: (x,y,z) coordinates of the 3D space and intensity value for each point.
LiDAR sensor physical details- Range (10% Reflectivity): 250m, Horizontal Field of View 120°, Configurable Vertical Field of View 0-30°, Frames per Second 10-30.
Original Racecar Dataset paper link: https://arxiv.org/pdf/2306.03252.pdf
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