VAROS Underwater Dataset ====================================== File structure changes against description in the VAROS paper October 2021 Authors: Andreas L. Teigen, Mauhing Yip, NTNU Trondheim Date of this document: Oct 11, 2021 After the publication of the file structure as presented in the VAROS paper (Zwilgmeyer et al. 2021), we saw the necessity to add some additional data for the convenience of the user. These changes are listed below, and an updated figure of the file structure can be found further below. - The file "camM0_poses.csv" that contained the pose of the camera with Euler angles is exchanged against a folder named "camM0_poses/". This folder contains the data in the original "camM0_poses.csv", but now in three different representations: 1. camM0_poses_euler.csv - Poses of the camera in the world frame described in Euler angle representation. This is the same file as "camM0_poses.csv" in the original structure. 2. camM0_poses_transformation_matrix.csv - Poses of the camera in the world frame described by the transformation matrix representation. 3. camM0_poses_quaternion.csv - Poses of the camera in the world frame described with the quaternion representation. - In the "camM0/" folder the file "camM0_timestamps.csv" has been added. This file assigns every image in every image folder to a definite timestamp according to the set frame frequency. - In the folder "vehicle0", a new folder called "ground_truth_vehicle_pose/" has been created. This folder contains the poses of the vehicle coordinate frame in the world frame. The vehicle coordinate frame is separate from- but fixed in relation to the camera frame. This folder has a similar layout to the "camM0_poses/" folder, containing three different representations of the same data: 1. vehicle0_poses_euler.csv - Poses of the vehicle in the world frame described with the Euler angles representation. 2. vehicle0_poses_transformation_matrix.csv - Poses of the vehicle in the world frame described by the transformation matrix representation. 3. vehicle0_poses_quaternion.csv - Poses of the vehicle in the world frame described with the quaternion representation. - The folder "python_toolkit/" has been created and made available as a separate download. This folder currently contains two files: 1. addNoiseToIMU.py - Python script that inputs true IMU data and infuses noise onto it. 2. imu_noise_config.yaml - A configuration file for the "addNoiseToIMU.py" script, including source information and a the configuration for the noise model. References: ============= Zwilgmeyer, Peder Georg Olofsson et al. (2021). “The VAROS Synthetic Underwater Data Set: Towards Realistic Multi-Sensor Underwater Data With Ground Truth”. In: Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, pp. 3722–3730.