Table 1.
Sensor overview.
| Type | Sensor Model | Sensor ID | Location | Sampling Frequency |
Angular Resolution H/V |
Field of View H/V |
|---|---|---|---|---|---|---|
| GNSS | Septentrio | SEPT | Top | 10 Hz | - | - |
| PolaRx | ||||||
| GPS | Novatel DL-4 | NOVATEL | Top | 5 Hz | - | - |
| IMU | MicroStrain | MS | Inside | 200 Hz | - | - |
| 3DM-GX3 | ||||||
| IMU | H764G IMU1 | H764G | Inside | 200 Hz | - | - |
| IMU | H764G IMU2 | H764G | Inside | 200 Hz | - | - |
| LiDAR | Velodyne | VHDL | Front,Top | 20 Hz | 0.2°/1.33° | 360°/40° |
| HDL-32E | ||||||
| LiDAR | Velodyne | VRED | Front,Bottom | 20 Hz | 2.0°/0.2° | 30°/360° |
| VLP-16 | VBLUE | Back,Center | ||||
| LiDAR | Velodyne | VGREEN | Front,Right | 20 Hz | 0.2°/2.0° | 360°/30° |
| VLP-16 | VYELLOW | Front,Left | ||||
| VWHITE | Back,Left | |||||
| VBLACK | Back,Right |