Naslov
CADDY Underwater Stereo-Vision Dataset for Human-Robot Interaction (HRI) in the Context of Diver Activities

Autori
Chavez, Arturo Gomez ; Ranieri, Andrea ; Chiarella, Davide ; Zereik, Enrica ; Babić, Anja ; Birk, Andreas

Izvornik
Journal of marine science and engineering (2077-1312) 7 (2019), 1; 16, 14

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
dataset ; underwater imaging ; image processing ; marine robotics ; field robotics ; human-robot interaction ; stereo vision ; object classification ; human pose estimation

Sažetak
In this article we present a novel underwater dataset collected from several field trials within the EU FP7 project ''Cognitive autonomous diving buddy (CADDY)'', where an Autonomous Underwater Vehicle (AUV) was used to interact with divers and monitor their activities. To our knowledge, this is one of the first efforts to collect a large public dataset in underwater environments targeting object classification, segmentation and human pose estimation tasks. The first part of the dataset contains stereo camera recordings (~10K) of divers performing hand gestures to communicate with an AUV in different environmental conditions. These gestures serve to test the robustness of object detection and classification algorithms against underwater image distortions, i.e., color attenuation and light backscatter. The second part includes stereo footage (~12.7K) of divers free-swimming in front of the AUV, along with synchronized IMUs measurements located throughout the diver's suit (DiverNet) which serve as ground-truth for human pose and tracking methods. In both cases, these rectified images allow the investigation of 3D representation and reasoning pipelines from low-texture targets commonly present in underwater scenarios. This work describes the recording platform, sensor calibration procedure plus the data format and the software utilities provided to use the dataset.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA