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：本文介绍了一个多模态海事数据集及其采集流程，旨在促进受限水域环境中的自主航行。该数据集包含通过多种感知与导航传感器获取的测量数据，包括立体相机、红外相机、全向相机、三台激光雷达、航海雷达、全球定位系统及姿态航向参考系统。数据采集沿韩国浦项市一条7.5公里长的航线进行，该航线涵盖狭窄运河、内外港口及近岸海域。采集工作在不同天气与视觉条件下完成。该数据集及其详细描述可免费下载，网址为https://sites.google.com/view/pohang-canal-dataset。