We aim to increase the access to this high-tech field, fueling advancements in underwater navigation. Get access to our dataset along with instructions on how to replicate our setup and feel free to contribute.
Recorded Dataset - Guide for using the recorded dataset:
Software installation - Contains the below sections:
| Section | Description |
|---|---|
| BlueROV2 Setup | - |
| ---Flash SD Card with latest software | Update the ROV's companion pc to run BlueOS |
| ---Configure additional streams | Open auxilliary ports to enable reading Video and MAVLink messages topside |
| ---Activate Extensions for DVL and USB/IP | Forward USB and integrate DVL with Pixhawk |
| Top Side Computer Setup | - |
| ---Ubuntu 20.04 (Virtual Machine) (optional) | Getting started with a KVM (virtual machine) |
| ---Install basic tools | Enable building open source packages |
| ---Increase Swap Drive (optional) | Increase available system memory by allocating from hdd |
| ---ROS Noetic | Enable working with rosbags and ROS messages |
| ---Mavlink to ROS messages (MAVROS) | Read and process ROV telemetry data |
| ---USB over IP support | Connect to a virtual USB port |
| ---Event camera driver | Publish event camera data as ROS messages |
| ---DVL-A50 ROS driver | Publish the system ground truth as ROS messages |
| ---Ultimate SLAM | Run SLAM on event + frames + imu |
| ---ORB SLAM 3 | Run SLAM on frames + imu |
| ---Kalibr Calibration Software | Obtain intrinsic parameters for SLAM on own camera |
| ---Download resources | App links and optional shell script to ease operations |