Guide to LAMBDA
Data Pipeline, System Configuration, and File Structure.
Data Collection Pipeline
LAMBDA utilizes a high-fidelity Sim-to-Real pipeline. We leverage Unreal Engine 5 for photorealistic visuals and AirSim for sensor extraction, while combining Sionna's ray tracing with CADFEKO's electromagnetic simulations.
System Configuration
We simulate a multi-sensor UAV platform equipped with visual, laser, and radio-frequency sensors.
- Camera
- LiDAR
- Wireless
RGB & Depth Cameras are physically aligned to provide pixel-level correspondence via AirSim.
Resolution1920 × 1080
FOV110°
Frame Rate100 Hz
A mechanical spinning LiDAR simulation for dense 3D mapping.
Channels128 Lines
Range150 m
H-FOV[-60°, +60°]
V-FOV[0°, +90°]
Scan Rate30 Hz
Wireless Channel State Information based on Sionna Ray Tracing. The data preserves Multipath Components.
1. Channel Physics (Per Path)
- Complex Gain:
a_real,a_imag(Includes weather attenuation) - Amplitude:
- Phase:
- Delay:
tau(Propagation delay in seconds) - Doppler:
doppler(Doppler shift in Hz, derived from UAV velocity)
2. Geometric Angles
- AoD (Tx):
theta_t(Zenith),phi_t(Azimuth) - AoA (Rx):
theta_r(Zenith),phi_r(Azimuth)
3. Interaction History
- Interactions: List of interaction types (LoS, Reflection, Diffraction, Scattering).
- Valid: Boolean flag for path validation.
4. Receiver State & Metadata
- State:
t(Timestamp),uav_pos[x,y,z],uav_vel[vx,vy,vz]. - Config:
carrier_frequency(4.9GHz),weather_kind(rain/fog/clear).
File Structure
The dataset follows a structured hierarchy organized by Scenario, Weather, and Trajectory.
Dataset_Root/
├── San Francisco (Urban)/ # Scenario Name
│ ├── Scene 1/ # Sub-scene ID
│ │ ├── sunny/ # Weather Condition
│ │ │ ├── 1_uav_z_trace_1/ # [Num_UAVs]_[Trace_Type]_[Trace_ID]
│ │ │ │ ├── multipath/
│ │ │ │ │ └── f4p9GHz_V/ # Carrier Freq & Polarization
│ │ │ │ │ └── ... (.npz files)
│ │ │ │ ├── lidar/ # .pcd files
│ │ │ │ ├── rgb/ # .png files
│ │ │ │ ├── depth/ # .npz files
│ │ │ │ ├── imu/ # .json files
│ │ │ │ └── poses/ # .json/.npz files
│ │ │ ├── 1_uav_z_trace_2/
│ │ │ └── ...
│ │ ├── rainy/
│ │ └── ...
│ ├── Scene 2/
│ └── ...
├── San Francisco Style City (Suburban)/
├── SJTU Campus/
└── ...