Mermaid Underwater Dataset

The Mermaid Underwater Dataset (SR202204_LDM-S) is a set of underwater images acquired at approximately 20 m depth at the La Sirène site (Lion-de-Mer) in Saint-Raphaël (France) during the Submeeting 2022, an underwater robotic workshop (https://submeeting2022.univ-tln.fr/). A micro geodesic network was established at the acquisition site to serve as ground truth.
The covered area is approximately 150 m2, with a sub-millimeter GSD. It is composed of a statue of a mermaid, a sandy plain with stones and a rocky area. Sealife is distributed across these different spaces. Data is acquired from a single camera by divers with natural lighting and is provided without pre-processing.
This dataset can, among other things, be used in the context of work on underwater 3D reconstruction or on underwater visual navigation.
The dataset is composed of the following data: - A PDF file bringing together information relating to the micro geodesic network (acquisition methods, data processing method, GCPS, measurements and diagram) [SR202204_LDM-S_D00_GroundTruth_report.pdf] - An STL file representing the micro geodesic network on a relative scale [SR202204_LDM-S_D00_GroundTruth_network.stl] - A folder containing all the images [SR202204_LDM-S_D01]  - A PDF file bringing together information relating to the image data (acquisition method, data format, sensor information including calibration value, overview of the area under different views with mosaic, 3D clouds and textured mesh created from the images, overview of the trajectory) [SR202204_LDM-S_D01_readme.pdf] - An XML file which brings together information relating to the pose of each image estimated from a multi-view bundle adjustment [SR202204_LDM-S_C01_camera_poses]

美人鱼水下数据集（SR202204_LDM-S）是2022年水下机器人研讨会（Submeeting 2022，https://submeeting2022.univ-tln.fr/）期间，于法国圣拉斐尔的拉西雷讷（海狮，Lion-de-Mer）站点约20米水深处采集的水下图像集。采集现场搭建了微型大地测量网络以作为真值基准（ground truth）。
该数据集覆盖区域约150平方米，具备亚毫米级地面采样距离（GSD）。场景包含美人鱼雕像、散布石块的沙质平原与岩区，各类海洋生物分布于上述不同区域。数据由潜水员搭载单相机，在自然光条件下采集，且未经过任何预处理即可获取。
本数据集可应用于水下三维重建、水下视觉导航等相关研究场景。
本数据集包含以下数据内容：
- 一份汇总微型大地测量网络相关信息（采集方法、数据处理流程、地面控制点(GCPS)、测量结果与示意图）的PDF文件[SR202204_LDM-S_D00_GroundTruth_report.pdf]
- 一份以相对比例表征微型大地测量网络的STL文件[SR202204_LDM-S_D00_GroundTruth_network.stl]
- 一个包含全部采集图像的文件夹[SR202204_LDM-S_D01]
- 一份汇总图像数据相关信息（采集方法、数据格式、含标定参数的传感器信息、不同视角下的区域概览（含全景拼接图、三维点云与基于图像生成的纹理网格）、轨迹概览）的PDF文件[SR202204_LDM-S_D01_readme.pdf]
- 一份汇总通过多视图光束法平差估算得到的各图像位姿信息的XML文件[SR202204_LDM-S_C01_camera_poses]

搜集汇总

背景与挑战

背景概述

Mermaid Underwater Dataset是一个于2022年4月在法国圣拉斐尔La Sirène站点约20米水深采集的水下图像数据集，覆盖面积约150平方米，分辨率达亚毫米级，包含美人鱼雕像、沙地和岩石区域。数据集由单相机在自然光下采集，提供原始图像、微大地测量网络信息和相机姿态估计数据，主要用于水下3D重建或视觉导航研究，数据格式包括PDF、STL、XML和图像，开放访问。