Publication
Metadata of a Large Sonar and Stereo Camera Dataset Suitable for Sonar-to-RGB Image Translation (Dataset)
Christian Backe; Bilal Wehbe; Miguel Bande Firvida; Nimish Shrenik Shah; Diego Brito dos Santos Cesar; Max Hermann Pribbernow
12/2023.
Abstract
This is a set of metadata describing a large dataset of synchronized sonar and stereo camera recordings, that were captured between August 2021 and September 2023 during the project DeeperSense (https://robotik.dfki-bremen.de/en/research/projects/deepersense/), as training data for Sonar-to-RGB image translation. Parts of the sensor data have been published (https://zenodo.org/records/7728089, https://zenodo.org/records/10220989). Due to the size of the sensor data corpus, it is currently impractical to make the entire corpus accessible online. Instead, this metadatabase serves as a relatively compact representation, allowing interested researchers to inspect the data, and select relevant portions for their particular use case, which will be made available on demand. This is an effort to comply with the FAIR principle A2 (https://www.go-fair.org/fair-principles/) that metadata shall be accessible, even when the base data is not immediately.
The sensor data was captured at four different locations, including one laboratory (Maritime Exploration Hall at DFKI RIC Bremen) and three field locations (Chalk Lake Hemmoor, Tank Wash Basin Neu-Ulm, Lake Starnberg). At all locations, a ZED camera and a Blueprint Oculus M1200d sonar were used. Additionally, a SeaVision camera was used at the Maritime Exploration Hall at DFKI RIC Bremen and at the Chalk Lake Hemmoor. The examples/ directory holds a typical output image for each sensor at each available location.