license:mit region:us
---
configs:
- config_name: default
  data_files:
  - split: train
    path: "ros1_bags"
license: mit
pretty_name: AFRL Stereo Visual Inertial Underwater Dataset
---

## AFRL Stereo Visual Inertial Underwater Dataset

The dataset contains stereo visual-inertial dataset in three different environments namely 
- **Cave Gennie** dataset collected by diver inside the ballroom at Ginnie Springs, FL. The cave is illuminated with artificial lighting carried by the diver.
- **Bus Outside** dataset is collected using an underwater sensor suite operated by a
human driver while performing loops around a sunken bus at Fantasy Lake, NC.
- **Cemetery** dataset collected with Aqua2 AUV as it traverses over an artificial
cemetery at Lake Jocassee, SC multiple times.

All datasets are collected using a stereo camera (IDS UI- 3251LE) at 15 frames per
second (fps) and resolution of 1600×1200 and IMU (MicroStrain 3DM-GX15) measurements recorded at 100Hz.


### Organization

The datasets are available as [ROS1 bags](https://wiki.ros.org/Bags) inside ros1_bags folder and [ROS2 bags](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html) format inside ros2_bags folder. The calibration both intrinsics and extrinsic are located inside camera_imu_parameters. 
An approximate ground truth is obtained using structure from motion algorithm, COLMAP. The scale correction is performed during preprocessing using known stereo baseline. The camera_imu_parameters also contains the noise characterstics of the IMU using allan-variance. The dataset is organized as

- ros1_bags (containing dataset in ROS1 bag format)
- ros2_bgs  (containing dataset in ROS2 bag format)
- camera_imu_parameters (intrinsics and extrinsics)
- colmap_groundtruth (scale accurate approximate groundtruth)

### Citation
If find this dataset useful, please cite:
```
@inproceedings{josnicomparisonpaper2019,
  author={Joshi, Bharat and Rahman, Sharmin and Kalaitzakis, Michail and Cain, Brennan and Johnson, James and Xanthidis, Marios and Karapetyan, Nare and Hernandez, Alan and Li, Alberto Quattrini and Vitzilaios, Nikolaos and Rekleitis, Ioannis},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain}, 
  year={2019},
  pages={7227-7233},
  doi={10.1109/IROS40897.2019.8968049}}
```