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USVTrack/USVTrack
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- Website:https://usvtrack.github.io
- 🌟 March 6, 2025: USVTrack dataset is released atBaidu Netdisk,Google Drive 1,Google Drive 2
- USVTrack, the firstUSV-based 4D radar-camera tracking dataset in inland waterways, which offers data from multiple sensors, including a 4D radar, monocular camera, GPS, and IMU.
- USVTrack contains a rich diversity of data samples, includingvarious waterways (wide and narrow rivers, lakes, canals, moats and docks), diversetime conditions (daytime, nightfall, night),weather conditions (sunny, overcast, rainy, snowy), andlighting conditions (normal, dim, strong).
- We provide2D bounding box withtrack ID annotations. We also offer atoolkit to help researchers in processing, analyzing and training on our dataset.
- We build corresponding benchmarks and evaluate popular algorithms for object detection and object tracking tasks.
USVTrack (root) - images # RGB images - train - folder - 000001.jpg - 000002.jpg - xxx - test - folder - 000001.jpg - 000002.jpg - xxx - radar # radar files - folder - 000001.csv - YOLO # YOLO format for vision detection - images # put all images here - labels # all labels for detection - class.txt - train.txt - test.txt| Code | Label | Note |
|---|---|---|
| -1 | no-object | No object. Only for radar point clouds |
| 1 | ship | |
| 2 | boat | |
| 3 | vessel |
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 | semantic class id of the object （Refer toLabels） |
| 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) |
| 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 |
- We referred to thenuScenes,RadarScenes andView of Delft datasets, and are grateful to their websites and github repositories.
The USVTrack data is published under CC BY-NC-SA 4.0 license, which means that anyone can use this dataset for non-commercial research purposes.
Please use the following citation when referencing