STREAM - Sub-THz Radar sensing of the Environment for future Autonomous Marine platforms: Multi-Perspective Sensing - Maritime Environment - Front-looking Perspective

<p>This dataset contains the files corresponding to which results have been included in the journal paper titled 'High-Resolution Multi-Modal Sensing of&nbsp;Distributed Radar Network'. The full description of the conducted trials and data structure is mentioned in the attached PDF document.</p> <p>The trials were conducted at the Gosport Marina, Portsmouth, UK with a sea state of approximately 3 according to the Douglas Scale.</p> <p>The experiments were performed with automotive radars operating in the 79 GHz band to investigate the Doppler and imaging capabilities of these radars. A multi-sensory suite distributed around Valkyrie VI was mounted in front, corner, side and backward-looking orientations.</p> <p>This dataset contains data from the front-looking orientation, where the installation angle of radar is 0 degrees respective to the platform velocity vector.</p> <p><strong>Radar Data:</strong></p> <p>The radar data is stored in the file 'GM2_Lab_240522_160943.h5'. The methodology to process the data in MATLAB is presented in the attached pdf. document.</p> <p><strong>Inertial Measurement Unit:</strong></p> <p>Three xSens 680G IMU were mounted on the roof, front and back of the boat. They have been included in the corresponding zip folders.</p> <p>PC3_Corner_RLG: IMU at the corner of the boat.</p> <p>PC4_Forward_RLG: IMU at the roof of the boat.</p> <p>PC5_Backward_RLG: IMU at the back of the boat.</p> <p>The IMU data is converted to .txt files that can be directly loaded into MATLAB.</p> <p><strong>Timestamped Velocity:</strong></p> <p>The file 'Front_160943.mat' contains the time-stamped velocity for each radar frame. Here, the integration interval is 128 ms with 512 radar chirps.</p> <p>The file 'CommonFramesFront_160943.mat' contains the timestamped velocity for the frames that are synchronised with the frames of side-looking radar.</p> <p>(The dataset for the side-looking radar is stored in another repository with DOI: 10.5281/zenodo.14174138)</p> <p><strong>Camera:</strong></p> <p>Each radar also has a camera for ground truth. The time-stamped camera frames for each radar frame are stored in 'CommonFramesFront_160943.mat'.</p> <p>Processed camera frames and video of the scene are available in: 'GM2_Front_240522_160943_CameraFrames.zip'.</p> <p>&nbsp;</p> <p>For more information, please contact:</p> <p>Anum Pirkani: a.a.a.pirkani@bham.ac.uk, anum.apirkani@gmail.com</p> <p>Marina Gashinova: m.s.gashinova@bham.ac.uk</p>