
Approximate path traveled underwater overlaid on an aerial image from Google Earth.
Approximate path traveled underwater overlaid on an aerial image from Google Earth.
We provide a data set collected with an autonomous underwater vehicle (AUV) testbed in the unstructured environment of an underwater cave complex. The vehicle is equipped with two mechanically scanned imaging sonar (MSIS) to simultaneously map the caves’ horizontal and vertical surfaces, a Doppler velocity log (DVL), two inertial measurement units (IMUs), depth sensor, and a vertically mounted camera imaging the sea-floor for ground truth validation in specific points. Here we present data using this testbed that was collected while guided by a diver, due to caves’ spatial complexity, during July 2013. For ease of use the original ROS bag files are provided accompanied with a derivative version combining imagery and human-readable text files for processing on other environments.
Data from all sensors was stored asynchronously using the Robot Operating System (ROS). We provide typical ROS bag files storing all the information, separating the data related to the camera from the rest:
We also provide a ROS package, named /cirs_girona_cala_viuda, that contains useful scripts to visualize the data:
Once downloaded you can unzip and copy the cirs_girona_cala_viuda folder into your ROS workspace. Then, copy the bag files inside your_ros_workspace/cirs_girona_cala_viuda/data. To visualize the data, launch the file named play_data.launch inside the provided package.
Messages logged:
To allow the use of this dataset on other tools different than ROS, we also provide human-readable versions of the data contained in the main bag file:
In the same way as above, all the information related to the cameras is separated in several human-readable files:
If you are using the data provided by this website, please credit our work by citing the following paper:
Mallios, A.; Vidal, E.; Campos, R. & Carreras, M.
Underwater caves sonar data set
The International Journal of Robotics Research, 2017, 36, 1247-1251
3D representation of the caves using this data set and a SLAM solution from this paper (depth scale in meters).