Eiffel Tower: A Deep-Sea Underwater Dataset for Long-Term Visual Localization

DOI

Visual localization plays an important role in positioning and navigation of robotics systems within previously visited environments. When visits occur over long periods of time, changes in the environment related to seasons or day/night cycles present a major challenge. Under water the sources of variability are due to other factors such as water conditions or growth of marine organisms. Yet it remains a major obstacle and a much less studied one partly due to the lack of data. This paper presents a new deep-sea dataset to benchmark underwater long-term visual localization. The dataset is composed of images from four visits to the same hydrothermal vent edifice over the course of five years. Camera poses and a common geometry of the scene were estimated using navigation data and Structure-from-Motion. This serves as a reference when evaluating visual localization techniques.

Identifier
DOI https://doi.org/10.17882/92226
Metadata Access http://www.seanoe.org/oai/OAIHandler?verb=GetRecord&metadataPrefix=oai_dc&identifier=oai:seanoe.org:92226
Provenance
Creator Boittiaux, Clementin; Dune, Claire; Ferrera, Maxime; Arnaubec, Aurelien; Marxer, Ricard; Van Audenhaege, Loic; Matabos, Marjolaine; Hugel, Vincent
Publisher SEANOE
Publication Year 2022
Funding Reference info:eu-repo/grantAgreement/EC/H2020/818123/EU//iAtlantic
Rights CC-BY-NC-ND
OpenAccess true
Contact SEANOE
Representation
Resource Type Dataset
Discipline Marine Science