SOLAQUA提供海基养鱼场水下机器人多传感器数据集，助力渔业自动化研究。
SOLAQUA: SINTEF Ocean Large Aquaculture Robotics Dataset
- 在真实渔场环境中采集多传感器数据，涵盖声呐、相机与航行状态信息。
- 包含人工与自主巡检双模式数据，覆盖无损网具及鱼群、海生物附着场景。
- 适合从事水下视觉、渔业机器人与海洋智能感知的研究者使用。
本文介绍了一个在海上养鱼场中由水下机器人采集的数据集。数据来自实际运营的鱼类养殖场，包含水下定位设备（Waterlinked A50 DVL、Nortek Nucleus 1000 DVL）、Sonardyne Micro Ranger 2 USBL、Sonoptix MultiBeam Sonar、单目与立体相机，以及车辆传感器数据（如功耗、IMU、压力、温度等）。数据采集在人工操控与自主导航两种模式下完成，视觉数据涵盖无损伤网具，伴有部分鱼类和海洋生物附着。该SOLAQUA数据集预期将为学术界与水产养殖产业带来显著价值。
原文摘要 · Abstract (English)
This paper presents a dataset gathered with an underwater robot in a sea-based aquaculture setting. Data was gathered from an operational fish farm and includes data from sensors such as the Waterlinked A50 DVL, the Nortek Nucleus 1000 DVL, Sonardyne Micro Ranger 2 USBL, Sonoptix Mulitbeam Sonar, mono and stereo cameras, and vehicle sensor data such as power usage, IMU, pressure, temperature, and more. Data acquisition is performed during both manual and autonomous traversal of the net pen structure. The collected vision data is of undamaged nets with some fish and marine growth presence, and it is expected that both the research community and the aquaculture industry will benefit greatly from the utilization of the proposed SOLAQUA dataset.
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