This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environments. The dataset comprises measurements obtained using various perception and navigation sensors, including a stereo camera, an infrared camera, an omnidirectional camera, three LiDARs, a marine radar, a global positioning system, and an attitude heading reference system. The data were collected along a 7.5-km-long route that includes a narrow canal, inner and outer ports, and near-coastal areas in Pohang, South Korea. The collection was conducted under diverse weather and visual conditions. The dataset and its detailed description are available for free download at https://sites.google.com/view/pohang-canal-dataset.

翻译：本文件介绍了一个多式海运数据集和用于收集该数据集的数据收集程序,目的是便利在限制水域环境中的自主导航,数据集包括利用各种感知和导航传感器,包括立体照相机、红外摄像头、全向照相机、3个激光雷达、海洋雷达、全球定位系统和姿态引导参考系统进行的测量,这些数据是沿着一条7.5公里长的路线收集的,这条路线包括南朝鲜Pohang的一条狭窄运河、内港和外港以及近海岸地带,收集工作是在不同的天气和视觉条件下进行的,数据集及其详细描述可在https://sites.gogle.com/view/pohan-canal-dataset免费下载。</s>