AURORA，一个用于机器人海洋探测的多传感器数据集

IF 7.5 1区计算机科学 Q1 ROBOTICS

International Journal of Robotics Research Pub Date : 2022-02-07 DOI:10.1177/02783649221078612

Marco Bernardi, Brett Hosking, C. Petrioli, B. Bett, Daniel Jones, V. Huvenne, Rachel Marlow, M. Furlong, S. McPhail, A. Munafò

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引用次数: 4

摘要

目前成熟的自主水下航行器(AUV)已经使其部署变得实用且具有成本效益，因此许多科学，工业和军事应用现在都包括AUV操作。然而，海上作业的后勤困难和高成本仍然是进一步技术发展、新技术基准和研究结果可重复性的关键限制因素。为了克服这一问题，本文提出了一个免费的数据集，适用于测试控制、导航、传感器处理算法和其他任务。该数据集结合了AUV导航数据、侧扫描声纳、多波束回声测深数据和海底相机图像数据，以及相关的传感器采集元数据，提供了2015年英国国家海洋学中心(NOC)在大黑格弗拉斯海洋保护区(MCZ)进行的调查的详细特征。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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AURORA, a multi-sensor dataset for robotic ocean exploration

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.

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来源期刊

International Journal of Robotics Research 工程技术-机器人学

CiteScore

22.20

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research. IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics. The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time. In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.