  Recent progress in autonomous and semi-autonomous driving has been made
possible in part through an assortment of sensors that provide the intelligent
agent with an enhanced perception of its surroundings. It has been clear for
quite some while now that for intelligent vehicles to function effectively in
all situations and conditions, a fusion of different sensor technologies is
essential. Consequently, the availability of synchronized multi-sensory data
streams are necessary to promote the development of fusion based algorithms for
low, mid and high level semantic tasks. In this paper, we provide a
comprehensive description of LISA-A: our heavily sensorized, full-surround
testbed capable of providing high quality data from a slew of synchronized and
calibrated sensors such as cameras, LIDARs, radars, and the IMU/GPS. The
vehicle has recorded over 100 hours of real world data for a very diverse set
of weather, traffic and daylight conditions. All captured data is accurately
calibrated and synchronized using timestamps, and stored safely in high
performance servers mounted inside the vehicle itself. Details on the testbed
instrumentation, sensor layout, sensor outputs, calibration and synchronization
are described in this paper.
