UMD (Unified Maritime Dataset)

This dataset accompanies the paper A Multimodal Dataset for Autonomous Surface Vehicle Situational Awareness. It aims to collect the marine datasets available for surface obstacle detection and tracking tasks, and provide annotations for them. The annotations are presented in JSON format. An API for accessing and editing the data, as well as reproducing the tests proposed in the paper, is given at https://bitbucket.org/isme_robotics/pods/src/main/ (branch name: paper). Before using the scripts, remember to modify the file cfg.yaml, changing the dataset path with the path of the folder you downloaded the dataset in. In the following, the mapping from the dataset IDs reported in the paper and the actual dataset folders is reported. RGB1 (SeaShips 7000 RGB) -> rgb/SeaShips_scenesRGB2 (Singapore Maritime Dataset Plus) -> rgb/smd_plusRGB3 (SMDP) -> spscd_scenes (sequences with obstacles), spscd_bg_scenes (sequences with no obstacles)RGB4 (Pep Buoys) -> rgb/RF_boats RGB5 (Lentic waters dataset) -> rgb/RF_boats RGB6 (Crane finder dataset) -> rgb/RF_cranesRGB7 (Sailboats dataset) -> rgb/RF_boats (the non-sequential frames), rgb/RF_sailboats_scenes (the sequential frames)nesRGB New data -> rgb/new (sequences with obstacles), rgb/new_bg (sequences with obstacles) IR1 (Singapore Maritime Dataset) -> ir/smd_ir_scenesIR2 (Raytron) -> ir/raytron (frames with real boats), raytron_mockup (frames with only mockup boats) MLT1 (MIT Grant) -> mlt (original dataset at https://seagrant.mit.edu/auvlab-datasets-marine-perception-2-3/)本数据集配套于论文《面向自主水面艇态势感知的多模态数据集》（A Multimodal Dataset for Autonomous Surface Vehicle Situational Awareness）。其旨在收集可用于水面障碍物检测与跟踪任务的海洋数据集，并为其提供标注。标注采用JSON格式存储。用于访问、编辑该数据集，以及复现论文中提出的测试实验的API，已发布于https://bitbucket.org/isme_robotics/pods/src/main/（分支名称：paper）。在使用相关脚本前，请务必修改cfg.yaml配置文件，将数据集路径替换为你本地下载该数据集的文件夹路径。 下文将列出论文中提及的数据集ID与实际数据集文件夹的对应关系： RGB1（SeaShips 7000 RGB） → rgb/SeaShips_scenes RGB2（新加坡海事数据集增强版，Singapore Maritime Dataset Plus） → rgb/smd_plus RGB3（SMDP） → spscd_scenes（含障碍物序列）、spscd_bg_scenes（无障碍物序列） RGB4（Pep Buoys数据集） → rgb/RF_boats RGB5（静水环境数据集，Lentic waters dataset） → rgb/RF_boats RGB6（起重机检测数据集，Crane finder dataset） → rgb/RF_cranes RGB7（帆船数据集，Sailboats dataset） → rgb/RF_boats（非连续帧）、rgb/RF_sailboats_scenes（连续帧） nesRGB 新增数据集（New data） → rgb/new（含障碍物序列）、rgb/new_bg（含障碍物序列） IR1（新加坡海事数据集，Singapore Maritime Dataset） → ir/smd_ir_scenes IR2（Raytron数据集） → ir/raytron（含真实船舶帧）、raytron_mockup（仅含模型船舶帧） MLT1（MIT资助数据集，MIT Grant） → mlt（原始数据集发布于https://seagrant.mit.edu/auvlab-datasets-marine-perception-2-3/）