اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدUnderwater inspection and intervention dataset
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نشر من قبل
Tomasz {\\L}uczy\\'nski
تاريخ النشر
2021
مجال البحث
الهندسة المعلوماتية
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English
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This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground truth for the vehicles position captured by an underwater motion tracking system. The dataset contains distortion-free and rectified stereo images along with the calibration parameters of the stereo camera setup. Furthermore, the experiments were performed and recorded in a controlled environment, where current and waves could be generated allowing the dataset to cover a wide range of conditions - from calm water to waves and currents of significant strength.
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