The Aqualoc Dataset: Towards Real-Time Underwater Localization from a Visual-Inertial-Pressure Acquisition System

IROS Workshop - New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications, Oct 2018, Madrid, Spain This paper presents a new underwater dataset acquired from a visual-inertial-pressure acquisition system and meant to be used to benchmark visual odometry, vis...

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Hauptverfasser:	Ferrera, Maxime, Moras, Julien, Trouvé-Peloux, Pauline, Creuze, Vincent, Dégez, Denis
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
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Zusammenfassung:	IROS Workshop - New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications, Oct 2018, Madrid, Spain This paper presents a new underwater dataset acquired from a visual-inertial-pressure acquisition system and meant to be used to benchmark visual odometry, visual SLAM and multi-sensors SLAM solutions. The dataset is publicly available and contains ground-truth trajectories for evaluation.
DOI:	10.48550/arxiv.1809.07076