Our sensor suite consists of six cameras, five LiDAR sensors, and an automotive gateway for recording bus data. This configuration provides 360° coverage of the environment with camera and LiDAR. The bus data give information about vehicle state and driver control input.
Five LiDAR sensors
Front centre camera
Surround cameras (5x)
Our vehicle is equipped with additional hardware for recording data from the sensor suite and vehicle bus. The cameras are connected to an embedded computer via LVDS, while the LiDAR sensors are connected via a 1G-Ethernet switch. Each LiDAR sensor is connected to a GNSS receiver which acts as a clock. A further GNSS clock serves as a time master for the gateway and embedded computer. The bus gateway connects to the embedded computer via 1G-Ethernet. All data is stored on a crash-safe network storage device, equipped with 48 TB of SSD storage, and accessed via 10G-Ethernet.
All sensor signals are timestamped in UTC format. Camera images are timestamped when they arrive at the embedded computer, which is synchronised to the time master. Bus data are timestamped at the gateway, which is also synchronised to the time master. LiDAR signals are timestamped at the sensors, which get their time from GNSS.