Datasets:

afrl-uw
/

stereo-vi-underwater-dataset

License:

Dataset card Files Files and versions

xet

Community

Dataset Viewer

The dataset viewer is not available for this dataset.

Cannot get the config names for the dataset.

Error code:   ConfigNamesError
Exception:    FileNotFoundError
Message:      Couldn't find a dataset script at /src/services/worker/afrl-uw/stereo-vi-underwater-dataset/stereo-vi-underwater-dataset.py or any data file in the same directory. Couldn't find 'afrl-uw/stereo-vi-underwater-dataset' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/afrl-uw/stereo-vi-underwater-dataset@bdb079e7fef85b1f956f3469bd4cc1c521f25772/ros1_bags' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.tar', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.h5', '.hdf', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.H5', '.HDF', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.zip']
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
                  config_names = get_dataset_config_names(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 347, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1910, in dataset_module_factory
                  raise FileNotFoundError(
              FileNotFoundError: Couldn't find a dataset script at /src/services/worker/afrl-uw/stereo-vi-underwater-dataset/stereo-vi-underwater-dataset.py or any data file in the same directory. Couldn't find 'afrl-uw/stereo-vi-underwater-dataset' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/afrl-uw/stereo-vi-underwater-dataset@bdb079e7fef85b1f956f3469bd4cc1c521f25772/ros1_bags' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.tar', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.h5', '.hdf', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.H5', '.HDF', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.zip']

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

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 inside ros1_bags folder and ROS2 bags 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}}

Downloads last month: 95

Total file size:

26.9 GB