The Aqualoc Dataset: Towards Real-Time Underwater Localization from a Visual-Inertial-Pressure Acquisition System
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.
Code (0)
등록된 구현이 없습니다.
Tasks
Visual OdometrySimilar Papers 제목 키워드 기반
AQUALOC: An Underwater Dataset for Visual-Inertial-Pressure Localization
We present a new dataset, dedicated to the development of simultaneous localization and mapping methods for underwater vehicles navigating close to the seabed. The data sequences composing this dataset are recorded in th…
Simultaneous Localization and MappingReal-time Monocular Visual Odometry for Turbid and Dynamic Underwater Environments
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based o…
Monocular Visual OdometryOptical Flow EstimationVisual OdometryCross-view and Cross-domain Underwater Localization based on Optical Aerial and Acoustic Underwater Images
Cross-view image matches have been widely explored on terrestrial image localization using aerial images from drones or satellites. This study expands the cross-view image match idea and proposes a cross-domain and cross…
APVI-SLAM: Real-Time Acoustic-Pressure-Visual-Inertial Localization and Photorealistic Mapping System in Complex Underwater Environment
Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visual-inertial SLAM. Although sensors like Doppler Velocity Logs (DVL) and pressure gauges provide auxiliary con…
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in ste…
Stereo Disparity EstimationStereo Depth Estimation3D Reconstruction