Handheld, Marine underwater
FLSea
Underwater visual SLAM, VIO and depth estimation
Forward-looking underwater stereo and monocular-inertial recordings with original and enhanced images, calibrated geometry and SfM-derived scaled depth maps and camera poses.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Handheld, Marine underwater
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 4
- Ground truth
- Available
- Calibration
- Not reported
- 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
|
|---|---|---|---|---|---|---|
| Other | Structure from motion | Agisoft Metashape | Not reported | Not reported | Unknown |
Reference provenance
Derived
|
|
||||||
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
Intrinsic and extrinsic calibrations are documented. Checkerboards and Matlab are used for camera calibration; AprilTag board and Kalibr establish VI camera-IMU extrinsics. Calibration capture sets were collected, but released raw-file coverage needs checking.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Some visual-inertial images are overexposed during drastic lighting changes.
Canyon inertial data were captured at 20 Hz and interpolated to 100 Hz; no camera-IMU hardware synchronization is provided.
Image-derived depth has imperfections in the far background; quantitative validation covers only a small subset.
Cameras
stereo
- Model
- Nikon D810
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgb
- Resolution
- 1280 x 720
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Joint hardware trigger starts video capture; there is no per-frame hardware trigger. Stopwatch testing found no discrepancy at millisecond resolution. Stereo sequences only.
visual-inertial-camera
- Model
- iDS camera (UI-3260CP Rev. 2)
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 968 x 608
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- VI sequences only; camera and IMU have millisecond timestamps but no hardware synchronization.
IMUs
BlueROV2 IMU
- Model
- VectorNav (VN-100)
- Count
- 1
- Accel / gyro
- 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
- 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
Available
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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