SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization

Research output: Contribution to conferencePaperResearchpeer-review


This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a \gls{LAUV}, operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan sonar, and an inertial navigation system, among other sensors. The AUV has been deployed in a pipeline inspection environment with a submarine pipe partially covered by sand. The AUV's pose ground truth is estimated from the navigation sensors. The side-scan sonar and RGB images include object detection and segmentation annotations, respectively. State-of-the-art segmentation, object detection, and SLAM methods are benchmarked on SubPipe to demonstrate the dataset's challenges and opportunities for leveraging computer vision algorithms. To the authors' knowledge, this is the first annotated underwater dataset providing a real pipeline inspection scenario. The dataset and experiments are publicly available online at
Original languageEnglish
Publication date31 Jan 2024
Publication statusAccepted/In press - 31 Jan 2024
EventOCEANS 2024 - , Singapore
Duration: 15 Apr 2024 → …


ConferenceOCEANS 2024
Period15/04/2024 → …


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