AURORA, a multi-sensor dataset for robotic ocean exploration
AURORA, a multi-sensor dataset for robotic ocean exploration
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DOI：
10.1177/02783649221078612
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发表时间：
2022-02-07
影响因子：
9.2
通讯作者：
Munafo, Andrea
中科院分区：
文献类型：
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作者：
Bernardi, Marco;Hosking, Brett;Munafo, Andrea
自主水下航行器（AUV）目前的成熟度使其部署变得实用和具有成本效益，因此许多科学，工业和军事应用现在都包括AUV操作。然而，后勤困难和海上作业成本高仍然是进一步技术开发、新技术基准确定和研究成果可重复性的关键限制因素。为了克服这个问题，本文提出了一个免费提供的数据集，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，侧扫声纳，多波束回声测深仪数据和海底相机图像数据以及相关的传感器采集元数据，以提供2015年英国国家海洋学中心（NOC）在Greater Haig Fras海洋保护区（MCZ）进行的调查的详细特征。
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.