USVTrack

A 4D Radar-Camera Tracking Dataset for Autonomous Driving in Inland Waterways

• Website:
• arXiv:

Overview

• Changelog
• Dataset
• Devkit
• Acknowledgement
• Citation

Changelog

Dataset

Introduction

Dataset Statistics

Dataset Structure

WaterScenes-Tracking (root)
  - image # RGB images
    - 000001.jpg
  - radar # radar files
    - 000001.csv
  - calib # intrisic and extrisic parameters
    - 000001.txt
  - gps # gps file
    - 000001.csv
  - imu # imu file
    - 000001.csv
  - label # annotation files for
    - yolo 
      - 000001.txt

Tracking GT file

Column	Label	Note
1	Frame number	start from 1
2	Indentity number	start from 1
3, 4, 5, 6	Box left, top, width, height
7	Confidence score
8	Class	Refer to Class
9	Visibility

Det file

Column	Label	Note
1	Frame number
2	Indentity number	-1
3, 4, 5, 6	Box left, top, width, height
7	Confidence score
8	Class	Refer to Class
9	Visibility	-1

Class

Code	Label	Note
0	ship
1	boat
2	vessel
-1	no-object	only for radar point clouds

Radar Format

Radar point clouds are stored in csv files. Each csv file contains a set of points in a specific timestamp:

Column	Description
timestamp	timestamp of the point
range	radial distance to the detection (in m)
doppler	radial velocity measured for this point (in m/s)
azimuth	azimuth angle to the detection (in degree)
elevation	elevation angle to the detection (in degree)
power	reflected power value of the detection (in dB)
x	x value in the XYZ coordinates
y	y value in the XYZ coordinates
z	z value in the XYZ coordinates
comp_height	absolute height of the point (in m)
comp_velocity	absolute velocity of the point (in m/s)
u	x-axis on the image plane
v	y-axis on the image plane
label	class label of this point (Refer to Class)
instance	instance id of this point (0 is for no-object)

GPS Format

Column	Description
timestamp	current timestamp
latitude	latitude
longitude	longitude
number_of_satellites	number of satellites
altitude	altitude
true_north_heading	true north heading to the earth
magnetic_north_heading	magnetic north heading to the earth
ground_speed_kn	speed (in kn)
ground_speed_kph	speed (in km/h)

IMU Format

Column	Description
timestamp	current timestamp
pitch	pitch (x-axis, right)
roll	roll (y-axis, front)
yaw	yaw (z-axis, top)
angular_velocity_x	angular velocity in x-axis
angular_velocity_y	angular velocity in y-axis
angular_velocity_z	angular velocity in z-axis
linear_velocity_x	linear velocity in x-axis
linear_velocity_y	linear velocity in y-axis
linear_velocity_z	linear velocity in z-axis
magnetic_field_x	magnetic field strength in x-axis
magnetic_field_y	magnetic field strength in y-axis
magnetic_field_z	magnetic field strength in z-axis