Dataset associated with "Instrumented Vehicle Multi-Sensor Dataset: LiDAR, GNSS, and Stereo Camera Recordings of Roadside Sign Approaches"

Recordings were collected at nominal speeds of 15, 20, and 25 mph, including one run incorporating a braking maneuver to near standstill.

Each recording combines a Cepton LiDAR point cloud, Hexagon/NovAtel GNSS position, velocity, and attitude data, and ZED X stereo camera imagery, all originally acquired as separate ROS bag streams and time-aligned in post-processing into a single MATLAB data file. A corresponding overview video, showing a cropped camera subregion alongside a bird's-eye-view rendering of the point cloud, accompanies each recording. The dataset is suited to research in vehicle localization, roadside infrastructure perception, multi-sensor calibration and fusion, and related autonomous-vehicle sensing problems.</p>