Marine underwater
Eiffel Tower
Long-term underwater visual localization
Four visits to a deep-sea hydrothermal vent between 2015 and 2020, with sampled color images, available navigation and common-frame COLMAP camera poses and geometry.
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
- 2
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Available
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 | Structure from motion | Not reported | Not reported | Not reported | Full |
Reference provenance
Hybrid
|
|
||||||
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
cameras.txt supplies intrinsics; underwater calibration uses dome-port corrective lenses and second-order radial distortion.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Navigation is missing for 3178 images from 2015.
Navigation can have metre-scale offsets between visits.
Reference poses are SfM estimates with method-dependent evaluation bias.
Appearance changes include topography, ecology, water optics and recording equipment.
Cameras
camera-2015-2018
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 1920 x 1080
- Rate
- 0.3333333333333333 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- 2015, 2016 and 2018 configuration. Video capture was 25 fps; released input images were extracted every 3 seconds, then manually filtered and navigation overlays inpainted. The rate is a nominal extraction cadence. Two different cameras were used across the dives; this record is a year-scoped configuration, not an assertion of physical count.
camera-2020
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 3840 x 2160
- Rate
- 0.3333333333333333 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- 2020 configuration. Video capture was 30 fps; sampled dataset images use a nominal 3-second interval before filtering. Camera change is associated with an intensity shift. Physical count and exact model are unreported.
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
- Available
- Format
- COLMAP images.txt
- 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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