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

Maxime Ferrera; Julien Moras; Pauline Trouvé-Peloux; Vincent Creuze; Denis Dégez

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

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

Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, Vincent Creuze et Denis Dégez

IROS Workshop - New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications (Madrid, Spain, 05/10/2018)

2018

Résumé

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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Détails

Titre: The Aqualoc Dataset: Towards Real-Time Underwater Localization from a Visual-Inertial-Pressure Acquisition System
Créateurs - sans rôle: Maxime Ferrera - Université Paris-Saclay
Julien Moras - Université Paris-Saclay
Pauline Trouvé-Peloux - Université Paris-Saclay
Vincent Creuze - InterAction
Denis Dégez - United States Marine Corps
Colloque: IROS Workshop - New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications (Madrid, Spain, 05/10/2018)
Identifiants: 9938992109311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: hal-01871201