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USVTrack

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

  • Website:
  • arXiv:

Overview

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