Underwater caves sonar data set

Data set collected with an autonomous underwater vehicle testbed in the unstructured environment of an underwater cave complex. The vehicle is equipped with two mechanically scanned imaging sonar sensors to simultaneously map the caves horizontal and vertical surfaces, a Doppler velocity log, two inertial measurement units, a depth sensor, and a vertically mounted camera imaging the sea floor for ground truth validation at specific points. The testbed collected the data in July 2013, guided by a human diver, to sidestep autonomous navigation in a complex environment. For ease of use, the original robot operating system bag files are provided together with a version combining imagery and human-readable text files for processing on other environments. This dataset was described in:<br> Mallios A, Vidal E, Campos R, Carreras M. Underwater caves sonar data set. The International Journal of Robotics Research. 2017;36(12):1247-1251. doi:10.1177/0278364917732838 Web: https://cirs.udg.edu/caves-dataset/本数据集由自主水下航行器（Autonomous Underwater Vehicle，AUV）测试平台在水下洞穴群的非结构化环境中采集获取。该测试平台搭载两台机械扫描成像声呐（Mechanically Scanned Imaging Sonar）传感器，可同步测绘洞穴的水平与垂直表面；此外还配备多普勒测速日志（Doppler Velocity Log，DVL）、两台惯性测量单元（Inertial Measurement Unit，IMU）、深度传感器，以及一台垂直安装的海底成像相机，用于在特定点位开展真值验证。该测试平台于2013年7月开展数据采集工作，由人类潜水员手动操控，以规避复杂环境下的自主导航难题。为便于使用，除原始机器人操作系统（Robot Operating System，ROS）袋文件外，还提供了融合图像与可读文本的处理版本，可适配其他环境下的数据处理工作。本数据集的相关描述发表于：<br>Mallios A, Vidal E, Campos R, Carreras M. 水下洞穴声呐数据集. 《国际机器人研究学报》（The International Journal of Robotics Research）. 2017;36(12):1247-1251. DOI: 10.1177/0278364917732838 网址：https://cirs.udg.edu/caves-dataset/