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 (3)

1 DTIS, ONERA, Université Paris Saclay (COmUE) [Palaiseau]
2 ICAR - Image & Interaction
3 DRASSM - Département des Recherches Archéologiques Subaquatiques et Sous-Marines [Marseille]

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.

Domaines: Robotique [cs.RO]; Vision par ordinateur et reconnaissance de formes [cs.CV]

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⟩