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

Maxime Ferrera 1, 2 Julien Moras 1 Pauline Trouvé-Peloux 1 Vincent Creuze 2 Denis Dégez 2
2 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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.
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  • HAL Id : hal-01871201, version 1
  • ARXIV : 1809.07076

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Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, Vincent Creuze, Denis Dégez. 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. ⟨hal-01871201⟩

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