The current maturity of autonomous underwater vehicles (AUVs) has made their deployment practical and cost-effective, such that many scientific, industrial and military applications now include AUV operations. However, the logistical difficulties and high costs of operating at sea are still critical limiting factors in further technology development, the benchmarking of new techniques and the reproducibility of research results. To overcome this problem, this paper presents a freely available dataset suitable to test control, navigation, sensor processing algorithms and others tasks. This dataset combines AUV navigation data, sidescan sonar, multibeam echosounder data and seafloor camera image data, and associated sensor acquisition metadata to provide a detailed characterisation of surveys carried out by the National Oceanography Centre (NOC) in the Greater Haig Fras Marine Conservation Zone (MCZ) of the U.K in 2015.

AURORA, a multi-sensor dataset for robotic ocean exploration / Bernardi, M.; Hosking, B.; Petrioli, C.; Bett, B. J.; Jones, D.; Huvenne, V. A. I.; Marlow, R.; Furlong, M.; Mcphail, S.; Munafo, A.. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 1741-3176. - 41:5(2022), pp. 461-469. [10.1177/02783649221078612]

AURORA, a multi-sensor dataset for robotic ocean exploration

Bernardi M.;Petrioli C.;
2022

Abstract

The current maturity of autonomous underwater vehicles (AUVs) has made their deployment practical and cost-effective, such that many scientific, industrial and military applications now include AUV operations. However, the logistical difficulties and high costs of operating at sea are still critical limiting factors in further technology development, the benchmarking of new techniques and the reproducibility of research results. To overcome this problem, this paper presents a freely available dataset suitable to test control, navigation, sensor processing algorithms and others tasks. This dataset combines AUV navigation data, sidescan sonar, multibeam echosounder data and seafloor camera image data, and associated sensor acquisition metadata to provide a detailed characterisation of surveys carried out by the National Oceanography Centre (NOC) in the Greater Haig Fras Marine Conservation Zone (MCZ) of the U.K in 2015.
2022
Autonomous underwater vehicles; imaging camera; sidescan sonar; multibeam echosounder; underwater navigation
01 Pubblicazione su rivista::01a Articolo in rivista
AURORA, a multi-sensor dataset for robotic ocean exploration / Bernardi, M.; Hosking, B.; Petrioli, C.; Bett, B. J.; Jones, D.; Huvenne, V. A. I.; Marlow, R.; Furlong, M.; Mcphail, S.; Munafo, A.. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 1741-3176. - 41:5(2022), pp. 461-469. [10.1177/02783649221078612]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1684968
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