Huangpu River Water–Air Integrated Multimodal Perception Dataset

The dataset is based on Unreal Engine 5 to construct a high fidelity 3D simulation scene of the Huangpu River in Shanghai, and combined with ASVSim to achieve motion, hydrodynamics, and multi-sensor simulation of fixed shore base stations and ships; The water air collaborative scenario framework supports further integration with unmanned aerial vehicle platforms. When generating data, first configure the base station, initial pose of the ship, camera, LiDAR, and Radar parameters through settings. json, and select encounter or chase motion scenes, as well as environmental conditions such as sunny days, rainfall, clouds, fog, snow, and different time periods.

After the automatic acquisition program starts the simulator, the scene state is recorded with a unified logical frame number: RGB, Depth, GPS, pose and other visual/state modes are exported according to the main frame, and LiDAR and Radar export point clouds according to their sampling frequency. Subsequently, based on the pose of the base station and the moving target in the same frame, Sionna RT is used to perform electromagnetic ray tracking using the XML scene of the Shanghai Jiang'an Corridor calibrated with coordinates, generating multi band complex CSI and its propagation path parameters.