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Underwater Dataset for Visual-Inertial Methods and data with transitioning between multiple refractive media.

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Multi Camera Underwater Visual Inertial Dataset

License: BSD-3

About

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:

  1. Camera | fps: 20Hz | resolution: 540p*720p | format: Mono8 | Topics:
/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
  1. IMU (synced with cameras) | fps: 200Hz | Topics:
/alphasense_driver_ros/imu
  1. IMU on FCU (Pixhawk) | fps: 50Hz | Topics:
/mavros/imu/data
  1. Pressure Sensor | fps: 50Hz | Topics:
/mavros/imu/static_pressure
  1. 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:

Motion Pattern 1 (Rectangular)

Shape Distance Travelled (m) Mean Linear Velocity (m/s) Mean Angular Velocity (rad/s)
Rectangular 120 0.25 0.12

No. Illumination Duration (s) Size (Gb) Link
1 E0+O1 460 18.1 link
2 E0+O2 456 17.8 link
3 E0+O3 392 15.3 link
4 E1+O3 386 15.1 link
5 E1+O2 443 17.3 link
6 E1+O1 395 15.4 link

Motion Pattern 2 (Infinity)

Shape Distance Travelled (m) Mean Linear Velocity (m/s) Mean Angular Velocity (rad/s)
Infinity 108 0.45 0.16

No. Illumination Duration (s) Size (Gb) Link
7 E1+O1 251 9.8 link
8 E1+O2 252 9.8 link
9 E1+O3 262 10.2 link
10 E0+O3 281 11.0 link
11 E0+O2 279 10.9 link
12 E0+O1 263 10.2 link

Motion Pattern 2 (Dumbbell)

Shape Distance Travelled (m) Mean Linear Velocity (m/s) Mean Angular Velocity (rad/s)
Dumb-bell 110 0.45 0.20

No. Illumination Duration (s) Size (Gb) Link
13 E0+O1 251 9.8 link
14 E0+O2 252 9.8 link
15 E0+O3 262 10.2 link
16 E1+O3 281 11.0 link
17 E1+O2 279 10.9 link
18 E1+O1 263 10.2 link

Motion Pattern 2 (Dumbbell w/ Transverse Motion)

Shape Distance Travelled (m) Mean Linear Velocity (m/s) Mean Angular Velocity (rad/s)
Dumbbell w/ Transverse Motion 110 0.25 0.11

No. Illumination Duration (s) Size (Gb) Link
19 E1+O1 251 9.8 link
20 E1+O2 252 9.8 link
21 E1+O3 262 10.2 link
22 E0+O3 281 11.0 link
23 E0+O2 279 10.9 link
24 E0+O1 263 10.2 link

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).

Trajectory Duration Size Link
1 173 2.6 link
2 126 1.9 link

Camera IMU Calibration

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.

Camera Intrinsics (Air) Intrinsics (Water) Extrinsics
cam0, cam1(Stereo Pair) link link link
cam3 link link link
cam4 link link link

Subset 3: Trajectories with Ground-truth from Motion Capture

No. Illumination Duration (s) Size (Gb) Motion Pattern Link MoCap Ground-Truth (.tum)
1 E1+O1 370 14.5 Rectangular link link
2 E1+O1 374 14.7 Infinity/Figure "8" link link
3 E1+O1 318 12.5 Dumbbell link link
4 E0+O1 405 15.9 Rectangular link link
5 E0+O1 401 15.7 Infinity/Figure "8" link link
6 E0+O1 302 11.6 Dumbbell link link

Reference

If you use this work in your research, please cite the publications as follows:

An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry

@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}
}

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