A LiDAR Point Clouds Dataset of Ships in a Maritime Environment  

作　　者：Qiuyu Zhang Lipeng Wang Hao Meng Wen Zhang Genghua Huang 

机构地区：[1]the College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China [2]Key Laboratory of Space Active Opto-Electronics Technology,Shanghai Institute of Technical Physics,Chinese Academy of Sciences,Shanghai 200083,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第7期1681-1694,共14页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (62173103);the Fundamental Research Funds for the Central Universities of China (3072022JC0402,3072022JC0403)。

摘　　要：For the first time, this article introduces a LiDAR Point Clouds Dataset of Ships composed of both collected and simulated data to address the scarcity of LiDAR data in maritime applications. The collected data are acquired using specialized maritime LiDAR sensors in both inland waterways and wide-open ocean environments. The simulated data is generated by placing a ship in the LiDAR coordinate system and scanning it with a redeveloped Blensor that emulates the operation of a LiDAR sensor equipped with various laser beams. Furthermore,we also render point clouds for foggy and rainy weather conditions. To describe a realistic shipping environment, a dynamic tail wave is modeled by iterating the wave elevation of each point in a time series. Finally, networks serving small objects are migrated to ship applications by feeding our dataset. The positive effect of simulated data is described in object detection experiments, and the negative impact of tail waves as noise is verified in single-object tracking experiments. The Dataset is available at https://github.com/zqy411470859/ship_dataset.

关 键 词：3D point clouds dataset dynamic tail wave fog simulation rainy simulation simulated data 

分 类 号：U675.7[交通运输工程—船舶及航道工程] TN958.98[交通运输工程—船舶与海洋工程]