Marine surface
FloW
Floating waste detection in inland waters
USV-view images and synchronized radar-camera data for detecting floating waste, with labeled still images and unannotated tracking videos.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine surface
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 3
- Ground truth
- Not reported
- 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.
Not reported
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
FloW-RI camera-radar extrinsic parameters are provided. The paper does not establish raw calibration sequences or a calibration accuracy figure.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
FloW-Img has 200 unannotated video clips; these do not supply tracking ground truth.
Small objects form over half of labeled FloW-Img targets; glare, waves and bank reflections complicate detection.
Radar target labels are generated with image-assisted point selection and mapped to RDM cells; no independent target Doppler reference is established.
Cameras
hdr
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Not Reported
- Resolution
- 1280 x 720
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- HDR camera with AR0230 chip; the chip is not an established full camera model. Independent image source rather than stereo pairing. FloW-RI has paired image/radar sampling at 10 Hz; per-camera sequence coverage remains to be checked.
other-camera
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Not Reported
- Resolution
- 1280 x 640
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Second independent camera, used in different environments; no stereo relationship is established.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Texas Instruments AWR1843
- Count
- 1
- Released data
- Spectra / dense tensors, Point detections / point clouds
- Frame rate
- 10 Hz
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- 14.5 m
- Field of view
- Not reported
- Carrier frequency
- 77 GHz
- Notes
- FloW-RI only. Complex RDM for 12 virtual receiving antennas and CFAR/DBF 4D radar point clouds are supplied; 12 denotes virtual channels, not physical radars. Used chirp sweep is 77–80.76 GHz, 133.33 microseconds, 128 chirps. Reported range resolution is 0.0349 m; velocity resolution is 0.03 m/s and maximum velocity 4.10 m/s. Exact released point-cloud columns are not specified.
Pitot tube
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Available
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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