Multi Camera Underwater Visual Inertial Dataset

About

This is an underwater dataset consisting of multiple onboard sensors, mainly, 5 Camera and IMU ( Alphasense Core Research Developent Kit),a Pressure Sensor, and actuator commands from an ROV piloted in an indoor facility (MC-lab). A total of 24 trajectories are collected with following characteristics:

• 4 Motion patterns with length 100-120m
• External illumination ranging from 100 to 700 lux
• Onboard illumination at 3 gradual levels

Additionally, we provide trajectories with varying media (Air, Water).

Updates / News

• May 27 2024: Added Mocap files for subset-3 in (.tum) format with artifacts removed.
• Apr 7 2024: Added 6 trajectrories (2 lighing conditions x 3 motion patterns) with peicewise-continuous ground-truth from motion capture. Link: Subset 3
• Nov 29 2023: Uploaded undertwater dataset with multi-camera imu system for underwater VIO and camera models. Link: Subset 1 and Subset 2

Varying illumination at 6 levels

5 Camera and IMU

Cam0	Cam1	Cam2	Cam3	Cam4

Ariel: Underwater robot with multi-camera imu and compute suite

Robot in water	System Description

Motion Patterns

Trajectories with Visual Inetrial Data

Subset 1: Motion Patterns

The first subset contains 24 trajectories with 4 motion patterns and varying illumination.

Each of the trajectory contains following data in ROS bag format:

1. Camera | fps: 20Hz | resolution: 540p*720p | format: Mono8 | Topics:

/alphasense_driver_ros/cam0  # Front Stereo Pair: Right
/alphasense_driver_ros/cam1  # Front Stereo Pair: Left
/alphasense_driver_ros/cam2  # Top Camera
/alphasense_driver_ros/cam3  # Right Side Camera
/alphasense_driver_ros/cam4  # Left Side Camera

2. IMU (synced with cameras) | fps: 200Hz | Topics:

/alphasense_driver_ros/imu

3. IMU on FCU (Pixhawk) | fps: 50Hz | Topics:

/mavros/imu/data

4. Pressure Sensor | fps: 50Hz | Topics:

/mavros/imu/static_pressure

5. Actuator output PWM | fps: 50Hz | Topics:

/mavros/rc/out # ch 1-8 thrusters, ch 9-10 for Lumen LED

The collective data can be found (1-18) and (19-24), whereas the following table contains link to each trajectory:

Motion Pattern 1 (Rectangular)

Motion Pattern 2 (Infinity)

Motion Pattern 2 (Dumbbell)

Motion Pattern 2 (Dumbbell w/ Transverse Motion)

Illumination Details: External light has two levels E0 corresponding to 100 - 300 lux and E1 corresponding to 400-700 lux measured outside and above water surface. Onboard light varies between three incremental levels, O1, O2, and O3, corresponinding to 20%, 40%, 60% pwm level of the Lumen Subsea LED (Max: 1500 lumens) respectively.

Subset 2: Trajectories with Varying Media (Air, Water)

The second subset contains 6 trajectories with varying media (Air, Water).

Camera IMU Calibration

The cameras were calibrated using the Kalibr toolbox. The calibration data is provided in the following table with the links for each camera intrinsics and extrinsics.

Subset 3: Trajectories with Ground-truth from Motion Capture

Reference

If you use this work in your research, please cite the publications as follows:

An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry

@misc{singh2023online,
      title={An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry}, 
      author={Mohit Singh and Mihir Dharmadhikari and Kostas Alexis},
      year={2023},
      eprint={2310.16658},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Contact

You can contact us for any question:

• Mohit Singh
• Mihir Dharmadhikari
• Kostas Alexis