Underwater inspection and intervention dataset
This dataset addresses the need for high-quality, controlled data for underwater robotics research, particularly in visual navigation and intervention tasks, though it is incremental as it builds on existing dataset efforts by adding ground truth and varied environmental conditions.
The paper introduces a novel underwater dataset with ground truth vehicle positions from a motion tracking system, providing distortion-free stereo images and calibration parameters for visual navigation and SLAM algorithms, recorded in controlled conditions ranging from calm water to strong waves and currents.
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground truth for the vehicle's position captured by an underwater motion tracking system. The dataset contains distortion-free and rectified stereo images along with the calibration parameters of the stereo camera setup. Furthermore, the experiments were performed and recorded in a controlled environment, where current and waves could be generated allowing the dataset to cover a wide range of conditions - from calm water to waves and currents of significant strength.