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Sensor Rig

The test car with its roof sensors: Ouster and Robosense RSP128 LiDARs, 8 Lucid cameras and the 32 microphones on an aluminium frame. Positions come from the car's Autoware description (prius_sensor_kit_description). Drag to rotate, scroll to zoom.

Body: 3rd-generation Prius (XW30, as the test car) or the 4th-generation Autoware model. Cameras: Physical layout places them where they sit on the rig; Autoware calibration uses the calibrated positions.

Why two variants. The camera angles in the calibration are clean (45° steps), but the positions are not physically possible: camera0 sits 5 cm inside the roof, the rear-facing camera4 is 30 cm ahead of the front-facing camera0, and all eight cameras lie within 0.5 m of the LiDAR although the frame they are mounted on spans 1.1 m × 1.37 m. This looks like a LiDAR-to-camera calibration where the rotations converged and the translations did not. The physical layout takes the positions from the photos of the rig (exact relative to the plates, a few centimetres of uncertainty for how far each camera sticks out).

Sensor positions (base_link, metres)

Sensor	x	y	z	Faces	Height above roof	Distance from LiDAR

Renders

Left side view of the car with the roof rig — Left side

Front view at roof height — Front, at roof height

Rear left view from above — Rear left, from above

Top view, front to the right — Top, front to the right

Close view of the left side of the rig — Left side of the rig

Left microphone plate, close-up — Left microphone plate

Front plate close-up — Front microphone plate

3rd-generation body: this work is based on "Toyota Prius 2012" by Doz3, licensed under CC BY 4.0; changes: repainted white, rescaled to the 2.70 m wheelbase, wheels separated, sensor rig added.