Marine underwater
AURORA
Underwater navigation and sensor processing
Curated Autosub6000 navigation, downward seafloor imagery, sidescan and multibeam sonar from two Celtic Sea missions, with raw and lightly processed products.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine underwater
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 1
- 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
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Table 2 provides sensor offsets relative to the vehicle centre of gravity; this does not establish a complete intrinsic/extrinsic calibration package.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
M86 contributes only multibeam data; M87 provides the camera and sidescan products, so modality coverage differs by mission.
Multibeam data required merging after in-mission desynchronization and incomplete headers; residual alignment error is not quantified.
Cameras
vertical-camera
- Model
- Grasshopper 2
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 2448 x 2048
- Rate
- 1 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 26.71 deg
- VFOV
- 22.65 deg
- Notes
- Downward-facing camera; 45319 raw images with demosaicked JPEG counterparts and per-frame navigation metadata. Only M87 camera data are included; M86 contributes only MBES.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Model
- EdgeTech 2200M
- Name
- Sidescan sonar and sub-bottom profiler
- Count
- 1
- Notes
- M87 sidescan and chirp products; JSF raw data, XTF conversions and grayscale TIFF mosaics are described. Main sidescan acquisition used 410 kHz. The reported 6 Hz refers to chirp repetition, not an established common delivered rate.
Other sensor
- Model
- Kongsberg EM2040
- Name
- Multibeam echosounder
- Count
- 1
- Notes
- M86 multibeam data; operated at 200 kHz, with stated maximum ping rate 50 Hz. Files were merged chronologically to address desynchronization and incomplete headers; delivered frame rate is not established.
Other sensor
- Name
- AUV navigation
- Count
- 1
- Notes
- Combined navigation and position information accompanies sensor files. Georeferencing uses INS, DVL and CTD; separate raw component release is not established.
Other sensor
- Name
- CTD
- Count
- 1
- Notes
- CTD folders are shown for both M86 and M87; individual device count and released channel cadence are not established.
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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