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OpenSLAM

Data Set abandoned_marina

Data set Submitted by File totals
Name: abandoned_marina
Desc: Dataset recorded with the Ictineu underwater vehicle at the Fluvia Nautic abandoned marina near St Pere Pescador (Spain) in 16 March 2007.
David Ribas
dribas@eia.udg.edu
22 May 2009
2 files; 25 Mb

Detailed Description
The experiment was carried out in an abandoned marina situated near St. Pere Pescador on the Costa Brava (Spain) (http://maps.google.es/maps?hl=es&ie=UTF8&t=h&ll=42.202645,3.10662&spn=0.004339,0.007167&z=17). The Ictineu underwater vehicle gathered a data set along a 600 m operated trajectory which included a small loop around the larger water area and a 200 m straight path through an outgoing canal. The vehicle moved at about 0.2 m/s and the experiment lasted 50 min. The data set included measurements from the DVL (Doppler Velocity Log), the compass and the mechanically scanned imaging sonar, which was set to a range of 50 m, with a resolution of 0.1 m and 1.8º . For validation purposes, the vehicle was operated close to the surface attached to a GPS equipped buoy used for registering the trajectory. For further information on the dataset and the SLAM algorithm used to build the map take a look at the following article: D. Ribas, P. Ridao, J. Tardos, and J. Neira. Underwater SLAM in man made structured environments. Journal of Field Robotics, 25(11-12):898–921, November - December 2008.
File Format Description
The file called abandoned_marina_dataset.zip contains the logs from the different sensors. The file description.pdf details the format of the logs.
Files
description.pdf6Mb
abandoned_marina_dataset.zip17Mb