afrl-uw/Catacombs_Visual-Inertial_Data

This dataset contains visual inertial data for an experiment at the Catacombs section of an underwater cave in Devil's Eye Cave System, FL, USA.

One dive was performed at the Catacombs section of the Devil's Eye Cave System with durations of 55 (2024), while data were recorded for 39 minutes. Calibration targets (4-by-2 and 5-by-4) were deployed in two different locations and stayed fixed for the duration of the dive.

The directory structure is as follows:

• Configurations
  -- april_3x5_10x10cm.yaml
  -- april_4x5_4x4cm.yaml
  -- GoProCamIMU.yaml
• Ros2Bags
  -- Center/
  -- Left/
  -- Right/
• COLMAP_SVIn2_MNemo_Trajectories
  -- Center_Colmap.txt
  -- Left_Colmap.txt
  -- Right_Colmap.txt
  -- Center_SVIn2.txt
  -- Left_SVIn2.txt
  -- Right_SVIn2.txt
  -- MNemo_CatacombsLC.txt
• Videos
  -- Center/
  -- Left/
  -- Right/
• WaterDepthProfiles
  -- CatacombsPerdix.csv/

Citation

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