Scenarios 24 – 29 are collected in an outdoor wireless environment representing a two-way city street. We adopt the DeepSense Testbed 3 and add a synchronized LiDAR sensor. The scanning range of the LiDAR is 16 meters and the motor spin frequency is 10Hz. The testbed is deployed in this environment where the two units are placed on the opposite sides of the street. The transmitter (Unit 2) constantly transmits using one antenna element of the phased array to realize omnidirectional transmission. The receiver continuously scans the surrounding environment using a receive mmWave beam steering codebook of 64 beams and by measuring the receive power with each beam. The testbed collects data samples at a rate of 10 samples/s.  The LiDAR at Unit 1 continuously scans the environment. Each data sample has multiple modalities including an RGB image and a LiDAR 360-degree point cloud, both collected by Unit 1. Please refer to the detailed description of the testbed presented here. 

McAllister Ave: It is a two-way street with 2 lanes, a width of 10.6 meters, and a vehicle speed limit of 25mph (40.6 km per hour. It is worth mentioning here that since this is a city street, vehicles of various sizes and travel speeds pass in both directions. This creates a diverse pool of blockages for the LOS link between the transmitter and receiver, which results in diverse received power maps (i.e., diverse power fluctuations across all 64 beam over time instances) and a diverse dataset.