This scan is based on a model from Googles 3D Warehouse. Direct link to original Model http://sketchup.google.com/3dwarehouse/details?mid=93f....

• The scanner is a Velodyne HDL-64E S2 with a rotation speed of 20Hz
• The simulation interval is 41.66 milliseconds (or 24 fps) thus one scanner rotation takes longer than a single simulation interval leading to single scans that do not cover the whole 360 degrees.

• This is intended and can be made coarser (full rotation per simulation interval) or finer (even less degrees covered by one simulation interval) by increasing/decreasing the FPS in the render panel and adjusting the movement of the scanner in the scene to be faster/solwer.
• The final_xxxxxxx files are all scans combined into a single pointcloud. The final_xxxxx_filtered.pcd is the full pointcloud filtered with a VoxelGrid filter with leaf-size 0.05

Files:

• Combined pointcloud with noise
• Combined pointcloud with noise
  (filtered with a VoxelGrid filter to reduce the number of points)
• .blend File
• Motion data of the sensor
• Individual scans without noise
• Individual scans with noise

Note:In this scene only the scanner moves, the cars remain static. A scene with movement will be uploaded at a later point