Ouster OS1-128 lidar
Vertical resolution: 128 channels
Horizontal resolution: 512, 1024, or 2048
Horizontal FOV: 360°
Horizontal angular resolution: min 0.17°
Vertical angular resolution: 0.35°
Range: 120 meters
Precision: ±0.7-5 cm
Frame rate: 10 or 20 Hz
Velodyne VLP-32C lidar
Vertical resolution: 32 channels
Horizontal resolution: 900-3600
Horizontal FOV: 360°
Vertical FOV: 40°
Horizontal angular resolution: 0.1°-0.4°
Vertical angular resolution: min 0.33°
Range: 200 meters
Precision: ±3 cm
Frame rate: 5 Hz to 20 Hz
2x Allied Vision Mako G-319C cameras
Resolution: 2064 × 1544
Max frame rate: 37.6 fps
Left camera FOV: 25.3°
Right camera FOV: 32.8°
NovAtel PwrPak7D-E2 GNSS device
Signal tracking: GPS, GLONASS, BeiDou, Galileo
Accuracy: 1 cm + 1 ppm (in practice 5-10 cm)
INS rate: max 200 Hz
RTK service: ESTPOS
Aptiv’s multimode ESR 2.5 radar
Long-range
Range: 174 m
FOV: ±10°
Update rate: 50 ms
Range rate: -100-25 m/s
Mid-range
Range: 60 m
FOV: ±45°
Update rate: 50 ms
Range rate: -100-25 m/s
4x Sekonix cameras (3x SF3324, 1x SF3325)
Resolution: 1928 x 1208
Max frame rate: 27 Hz
SF3324 FOV: 120°
SF3325 FOV: 60°
PACMod by-wire kit
Software control of steering, the throttle and the brake
Controllable over CAN bus
ROS drivers available
AStuff Spectra computer
CPU: Intel Xeon
Memory: 32GB
Storage: 1TB SSD
GPU: NVIDIA RTX2080Ti
Networking: 6x Gigabit Ethernet
OS: Ubuntu 18.04
NVIDIA DRIVE AGX Xavier computer
Two Xavier Systems-on-a-Chip
Deep Learning Accelerators
Built-in efficient video encoders and decoders
16x GMSL camera ports (4 in use for Sekonix cameras)
2 Ethernet ports
6 CAN buses
Comma three devkit (dashcam)
Cameras: two front and one cabin
Lane Keeping, Lane Departure Warning, Driver Monitoring,
Connectivity: LTE, Wi-Fi, GPS, OBD-C for CAN bus
