MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection

Olaya Alvarez Tunon, Hemanth Kanner, Luiza Ribeiro Marnet, Xuan Huy Pham, Jonas le Fevre Sejersen, Yury Brodskiy, Erdal Kayacan

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper presents MIMIR-UW, a multipurpose underwater synthetic dataset for SLAM, depth estimation, and object segmentation to bridge the gap between theory and application in underwater environments. MIMIR-UW integrates three camera sensors, inertial measurements, and ground truth for robot pose, image depth, and object segmentation. The underwater robot is deployed within a pipe exploration scenario, carrying artificial lights that create uneven lighting, in addition to natural artefacts such as reflections from natural light and backscattering effects. Four environments totalling eleven tracks are provided, with various difficulties regarding light conditions or dynamic elements. Two metrics for dataset evaluation are proposed, allowing MIMIR-UW to be compared with other datasets. State-of-art methods on SLAM, segmentation and depth estimation are deployed and benchmarked on MIMIR-UW. Moreover, the dataset's potential for sim-to-real transfer is demonstrated by leveraging the segmentation and depth estimation models trained on MIMIR-UW in a real pipeline inspection scenario. To the best of the authors' knowledge, this is the first underwater dataset targeted for such a variety of methods. The dataset is publicly available online. https://github.com/remaro-network/MIMIR-UW/
Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages7
PublisherIEEE
Publication dateOct 2023
Pages6141-6148
ISBN (Print)978-1-6654-9191-4
ISBN (Electronic)978-1-6654-9190-7
DOIs
Publication statusPublished - Oct 2023
Event2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Detroit, United States
Duration: 1 Oct 2023 → …

Conference

Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryUnited States
CityDetroit
Period01/10/2023 → …
SeriesIEEE International Conference on Intelligent Robots and Systems
ISSN2153-0858

Keywords

  • Measurement
  • Simultaneous localization and mapping
  • robot vision systems
  • pipelines
  • estimation
  • object segmentation
  • inspection

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