Marine underwater
Aqualoc
Underwater visual-inertial-pressure localization
Seven harbor ROV sequences with monocular monochromatic images, inertial, compass and pressure measurements, supplied as ROS bags and timestamped plain files.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine underwater
- Environment
- Not reported
- Data origin
- Real-world
- Sensor count
- 3
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- aprilgrid
Calibration data
Calibration reproducibility details are not reported.
Notes
Camera intrinsics are calibrated in situ; IMU-camera extrinsics are calibrated in air with fast motions. Kalibr uses an equidistant distortion model. Release contents include undistorted images, while parameter and raw calibration file availability remain unspecified.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Not reported
Cameras
monocular
- Model
- uEye - UI-1240SE
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Grayscale
- Resolution
- 640 x 512
- Rate
- 20 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Downward-facing camera; Kowa LM4NCL C-Mount lens. Both distorted and undistorted PNG images are provided with a separate timestamp file.
IMUs
Payload IMU
- Model
- MPU-9250
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Magnetometer
- Name
- MPU-9250 compass output
- Count
- 1
- Rate
- 80 Hz
- Notes
- Integrated compass channel of the listed IMU; not a second physical IMU. Timestamped compass measurements are distributed separately.
Other sensor
- Model
- MS5837 - 30BA
- Name
- Pressure sensor
- Count
- 1
- Notes
- Recorded pressure rate is 5–10 Hz; independent timestamped pressure files are released. This is an underwater pressure sensor, retained under other rather than asserting an atmospheric barometer.
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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