Marine surface
RoboWhaler Marine Perception Datasets
Marine perception and sensor fusion
Timestamped visible and infrared imagery, lidar, marine radar and navigation recordings from a Boston Whaler on the Charles River and Boston Harbor, with low-speed and high-speed curated downloads.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Download
Not reportedPaper
Not reportedCode
Not reportedSupplementary
Not reportedQuick facts
- Vehicle type
- Marine surface
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 9
- Ground truth
- Not available
- Calibration
- Parameters Only
- 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 available
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
Paper Table 1 gives extrinsics from the radar, lidar and five cameras to the INS-centered body frame as xyz metres and roll/pitch/yaw degrees. Intrinsics, calibration procedure, uncertainty and raw calibration sequences are not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Occasional sensor dropouts, solar glare, rain/snow on camera lenses, and sensor jitter in rough seas.
The documented 2020–2021 sensor inventory differs from the 2019 configuration; per-sequence metadata is needed.
Existing collection lacks ground truth; target-vessel GPS/IMU references are a planned enhancement.
Cameras
visible
- Model
- FLIR Pointgrey
- Setup
- Mono
- Count
- 3
- Effective cameras
- 3
- Modality
- Not Reported
- Resolution
- 1280 x 1024
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 48 deg
- VFOV
- 36 deg
- Notes
- Documented 2020–2021 configuration; nominal 12 fps, compressed and timestamped; actual delivered cadence not quantified. Abstract uses FLIR Blackfly 1.3 MP. Earlier 2019 configuration differs.
infrared
- Model
- FLIR ADK
- Setup
- Mono
- Count
- 2
- Effective cameras
- 2
- Modality
- Not Reported
- Resolution
- 640 x 512
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 75 deg
- VFOV
- Not reported
- Notes
- Infrared cameras in documented 2020–2021 setup; nominal 30 fps; actual delivered cadence and infrared spectral classification not established. Combined HFOV reported as 145 degrees.
IMUs
MTi 670 GNSS/INS inertial output
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
SBG Systems Ellipse2-D Dual Antenna RTK INS
- Model or name
- SBG Systems Ellipse2-D Dual Antenna RTK INS
- Count
- 1
- Rate
- Not reported
- GNSS type
- RTK
- Position output
- Available
- Velocity output
- Available
- Heading output
- Available
MTi 670 GNSS/INS
- Model or name
- MTi 670 GNSS/INS
- Count
- 1
- Rate
- Not reported
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Available
- Heading output
- Available
LiDAR
Velodyne VLP-16
- Model or name
- Velodyne VLP-16
- Count
- 1
- Dimensions
- Not reported
- Rate
- Not reported
- Channels
- Not reported
- Range
- Not reported
Radar
Simrad Broadband 4G
- Count
- Not reported
- Released data
- Point detections / point clouds
- Frame rate
- Not reported
- Doppler velocity
- Not reported
- Elevation angle
- Not reported
- Configured range
- Not reported
- Field of view
- 360° H (per radar)
- File format
- PCD
- Notes
- Paper calls this one radar consisting of two radar units. Hardware min/max range is listed as 50/66000 m; Figure 3 uses a 500 m cap described as predominant for inner-harbor and river navigation. Neither is established for every released file.
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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