Other
BALTIC
Cross-domain 3D reconstruction
Controlled monocular image sequences of a tank scene in air and underwater, varying illumination and camera motion, with externally tracked camera trajectories.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Other
- Environment
- Indoor
- Data origin
- Real-world
- Sensor count
- 1
- Ground truth
- Available
- 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.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Motion capture | HTC Vive | 2 controllers | Not reported | Unknown |
Reference provenance
External
|
|
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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
Separate fisheye calibrations in air and clear water have residuals of 0.22 and 0.55 px; dome-centering correction suppresses refraction. Distribution of parameters and raw calibration data is not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Controlled tank scale and conditions do not capture real underwater scene dynamics and variability.
Full radiometric calibration is outside the evaluation; cross-domain matching depends on scene stability and object type.
Occlusion, low texture and surface changes can limit cross-domain augmentation.
Cameras
monocular
- Model
- Not reported
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Fisheye
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Acquisition uses a fisheye lens; air and water images are undistorted into a common pinhole representation for evaluation. Native lens viewing angles are not asserted as delivered-image FOV.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Not reported
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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