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Recent progress in autonomous and semi-autonomous driving has been madepossible in part through an assortment of sensors that provide the intelligentagent with an enhanced perception of its surroundings. It has been clear forquite some while now that for intelligent vehicles to function effectively inall situations and conditions, a fusion of different sensor technologies isessential. Consequently, the availability of synchronized multi-sensory datastreams are necessary to promote the development of fusion based algorithms forlow, mid and high level semantic tasks. In this paper, we provide acomprehensive description of LISA-A: our heavily sensorized, full-surroundtestbed capable of providing high quality data from a slew of synchronized andcalibrated sensors such as cameras, LIDARs, radars, and the IMU/GPS. Thevehicle has recorded over 100 hours of real world data for a very diverse setof weather, traffic and daylight conditions. All captured data is accuratelycalibrated and synchronized using timestamps, and stored safely in highperformance servers mounted inside the vehicle itself. Details on the testbedinstrumentation, sensor layout, sensor outputs, calibration and synchronizationare described in this paper.

A Multimodal, Full-Surround Vehicular Testbed for Naturalistic Studies and Benchmarking: Design, Calibration and Deployment