This is an underwater dataset
consisting of multiple onboard sensors, mainly, 5 Camera and IMU ( Alphasense Core Research Developent Kit),a Pressure Sensor, and actuator commands from an ROV piloted in an indoor facility (MC-lab). A total of 24 trajectories are collected with following characteristics:
4 Motion patterns with length 100-120m
External illumination ranging from 100 to 700 lux
Onboard illumination at 3 gradual levels
Additionally, we provide trajectories with varying media (Air, Water).
Updates / News
May 27 2024: Added Mocap files for subset-3 in (.tum) format with artifacts removed.
Apr 7 2024: Added 6 trajectrories (2 lighing conditions x 3 motion patterns) with peicewise-continuous ground-truth from motion capture. Link: Subset 3
Nov 29 2023: Uploaded undertwater dataset with multi-camera imu system for underwater VIO and camera models. Link: Subset 1 and Subset 2
Varying illumination at 6 levels
5 Camera and IMU
Cam0
Cam1
Cam2
Cam3
Cam4
Ariel: Underwater robot with multi-camera imu and compute suite
Robot in water
System Description
Motion Patterns
Shape
Distance Travelled (m)
Mean Linear Velocity (m/s)
Mean Angular Velocity (rad/s)
Rectangular
120
0.25
0.12
Infinity
108
0.45
0.16
Dumb-bell
110
0.45
0.20
Dumb-bell w/ Transverse Motion
110
0.25
0.11
Trajectories with Visual Inetrial Data
Subset 1: Motion Patterns
The first subset contains 24 trajectories with 4 motion patterns and varying illumination.
Each of the trajectory contains following data in ROS bag format:
/alphasense_driver_ros/cam0 # Front Stereo Pair: Right
/alphasense_driver_ros/cam1 # Front Stereo Pair: Left
/alphasense_driver_ros/cam2 # Top Camera
/alphasense_driver_ros/cam3 # Right Side Camera
/alphasense_driver_ros/cam4 # Left Side Camera
IMU (synced with cameras) | fps: 200Hz | Topics:
/alphasense_driver_ros/imu
IMU on FCU (Pixhawk) | fps: 50Hz | Topics:
/mavros/imu/data
Pressure Sensor | fps: 50Hz | Topics:
/mavros/imu/static_pressure
Actuator output PWM | fps: 50Hz | Topics:
/mavros/rc/out # ch 1-8 thrusters, ch 9-10 for Lumen LED
The collective data can be found (1-18) and (19-24), whereas the following table contains link to each trajectory:
Illumination Details: External light has two levels E0 corresponding to 100 - 300 lux and E1 corresponding to 400-700 lux measured outside and above water surface. Onboard light varies between three incremental levels, O1, O2, and O3, corresponinding to 20%, 40%, 60% pwm level of the Lumen Subsea LED (Max: 1500 lumens) respectively.
Subset 2: Trajectories with Varying Media (Air, Water)
The second subset contains 6 trajectories with varying media (Air, Water).
The cameras were calibrated using the Kalibr toolbox. The calibration data is provided in the following table with the links for each camera intrinsics and extrinsics.
@misc{singh2023online,
title={An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry},
author={Mohit Singh and Mihir Dharmadhikari and Kostas Alexis},
year={2023},
eprint={2310.16658},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
