List of Datasets

Marine underwater

Underwater inspection and intervention dataset

Underwater visual navigation, SLAM and intervention disturbances

Controlled-tank ROV recordings with rectified RGB stereo images and Qualisys motion reference, plus processed disturbance traces for intervention simulation.

Metadata: Partial Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Website

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Marine underwater
Environment
Not reported
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

2 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF Motion capture Qualisys 6 cameras Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy notes
The paper describes achievable position measurement within 1 mm uncertainty residual after system calibration; this is not a demonstrated global pose-error bound.
Reference notes
Stereo CSV files contain ground-truth motion. A fixed tracked-frame to camera-frame transform was fitted using ORB-SLAM3 trajectories; the serialized CSV coordinate frame needs confirmation.

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

Pinax-based underwater calibration; intrinsic/projection matrices and a tracked-frame to camera-frame transformation are reported. The second camera block repeats left_camera; no corrected identifier is asserted.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

low_light

dynamic_objects

Cameras

underwater-stereo

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
612 x 512
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Distortion-free, rectified, white-balanced PNG images. Both printed camera parameter blocks specify 30 fps and 612 by 512 dimensions.

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.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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