DATASETS | AUV Lab

LOW SPEED

philos_2020-09-17_docking::Docking, Dock, Sailboat, Boat, Seawall, Mooring Ball

Philos – Docking

This dataset was collected on 2020/09/17 on the vessel R/V Philos on the Charles River at the MIT Sailing Pavilion, Cambridge, MA. Skies were mostly clear. This sequence captures docking and several sailboats passing into and out of the test area. Duration of the dataset is approximately 00:01:29 (epoch 1600368008 to 1600368097.)

HIGHLIGHTS

Vessel approaching stone wall and dock
Multiple sailboats near the vessel. Broadband radar channel 0 (range 500 m) captures nearby sailboats and the Sailing Pavilion dock complex
Sailors are readily visible in infrared video, especially to starboard
Radar can be displayed via Rviz, for example, with radar Decay time = 1.5 s and Size = .2
Good left, right, and center video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020-09-17_docking

Filename: philos_2020-09-17_docking.tar.gz (4.48 GB)

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philos_2020_09_17_MOS_basin::Mooring Field, Mooring Ball, Boat, Solar Glare, Marine Obstacle

Philos – MOS Basin

This dataset was collected on 2020/09/17 on the vessel R/V Philos on the Charles River while transiting the public mooring field near the Museum of Science, Cambridge, MA. Skies were mostly clear. During testing, Philos passed many moored vessels. Duration of the dataset is approximately 00:03:00 (epoch 1600366960 to 1600367140.)

HIGHLIGHTS

Multiple vessels on both sides of the vessel clearly visible in radar (range is 500m) and Lidar
Radar can be displayed via Rviz, for example, with radar Decay time = 1.5 s and Size = .2
Fair amounts of glare from the sun in the west, absent from infrared
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_17_MOS_basin

Filename: philos_2020_09_17_MOS_basin.tar.gz (9.31 GB)

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philos_2020_09_17_old_locks::Bridge, Solar Glare, Seawall, Boat

Philos – Old Locks

This dataset was collected on 2020/09/17 on the vessel R/V Philos on the Charles River while transiting west through the Old Locks near the Museum of Science, Cambridge, MA. Skies were mostly clear. The video images demonstrate severe solar glare. Duration of the dataset is approximately 00:02:00 (epoch 1600366646 to 1600366766.)

HIGHLIGHTS

Severe glare is visible in video and absent from infrared
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps
Radar (range 500m) and Lidar are also in the dataset

VISUAL LEGEND

Dataset ID: philos_2020_09_17_old_locks

Filename: philos_2020_09_17_old_locks.tar.gz (5.99 GB)

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philos_2020_09_17_sailboat_kayak::Sailboat, Kayak, Bridge, Solar Glare

Philos – Sailboat, Kayak

This dataset was collected on 2020/09/17 on the vessel R/V Philos on the Charles River while transiting east to and through the Longfellow Bridge near the Museum of Science, Cambridge, MA. Skies were mostly clear. The video images demonstrate severe solar glare. Duration of the dataset is approximately 00:01:50 (epoch 1600365961 to 1600366071.)

HIGHLIGHTS

Radar (range 500 m) and Lidar are also in the dataset and show a sailboat and kayak
Severe glare is visible in video and absent from infrared
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_17_sailboat_kayak

Filename: philos_2020_09_17_sailboat_kayak.tar.gz (5.79 GB)

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philos_2020_09_23_sailboat_Harvard_Bridge::Sailboat, Bridge, Solar Glare, GPS Denied

Philos – Sailboat, Harvard Bridge

This dataset was collected on 2020/09/23 on the vessel R/V Philos on the Charles River just east of the Harvard Bridge, Cambridge, MA. Skies were partly cloudy. A sailboat is ahead of Philos for much of the dataset, which includes transit of the Harvard Bridge. Duration of the dataset is approximately 00:01:45 (epoch 1600888069 to 1600888174.)

HIGHLIGHTS

A sailboat is ahead of Philos and clearly visible in radar (range 500 m) but not LiDAR
Radar and Lidar are in the dataset and show the Harvard Bridge
IMU data are in the dataset
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_23_sailboat_Harvard_Bridge

Filename: philos_2020_09_23_sailboat_Harvard_Bridge.tar.gz (5.6 GB)

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philos_2020_09_24_Gateway_Endeavor::Ship, Boat, Waves, Seawall

Philos – Gateway, Endeavor

This dataset was collected on 2020/09/24 on the vessel R/V Philos in Boston Harbor, Boston, MA. Skies were overcast. The 35 m supply ship Gateway Endeavor and Philos pass port-to-port. Duration of the dataset is approximately 00:01:00 (epoch 1600961941 to 1600962001.)

HIGHLIGHTS

The 35 m supply ship Gateway Endeavor and Philos pass port-to-port, with good capture of radar (range 500 m) and Lidar point clouds
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_24_Gateway_Endeavor

Filename: philos_2020_09_24_Gateway_Endeavor.tar.gz (3.02 GB)

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philos_2020_09_24_inbound_through_locks::Locks, Seawall, Traffic Light, Gate

Philos – Inbound Through Locks

This dataset was collected on 2020/09/24 on the vessel R/V Philos in Boston Harbor, Boston, MA. Skies were overcast. Philos enters the Charles River Locks to transit inbound. Duration of the dataset is approximately 00:02:15 (epoch 1600967397 to 1600967532.)

HIGHLIGHTS

This dataset captures the lock opening, control lights turning from red to green, Philos entering the lock, and the lock beginning to fill.
Includes excellent Lidar rendering of lock walls, doors, and general structure
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_24_inbound_through_locks

Filename: philos_2020_09_24_inbound_through_locks.tar.gz (8.1 GB)

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philos_2020_10_22_car_carrier_far::Car Carrier, Ship, Boat, Sailboat

Philos – Car, Carrier – Far

This dataset was collected on 2020/10/22 on the vessel R/V Philos in Boston Harbor, Boston, MA. Skies were clear becoming overcast. Philos enters the inner harbor while passing an outgoing car carrier. Duration of the dataset is approximately 00:06:00 (epoch 1603389805 to 1603390165.)

HIGHLIGHTS

This dataset tracks the 200 m NYK Line Gentle Leader car carrier from well over 1 km distant to passing within about 225 m
Includes good radar and video throughout
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_10_22_car_carrier_far

Filename: philos_2020_10_22_car_carrier_far.tar.gz (16.53 GB)

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philos_2020_10_22_car_carrier_near::Car Carrier, Ship, Boat, Sailboat

Philos – Car, Carrier – Near

HIGHLIGHTS

This dataset tracks the 200 m NYK Line Gentle Leader car carrier from about 750 m to passing within about 225 m
Includes good radar and video throughout
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_10_22_car_carrier_near

Filename: philos_2020_10_22_car_carrier_near.tar.gz (5.62 GB)

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philos_2020_10_22_mooring_field_with_ferry::Mooring Field, Mooring Ball, Ferry, Sailboat, Boat

Philos – Mooring Field With Ferry

This dataset was collected on 2020/10/22 on the vessel R/V Philos in Boston Harbor, Boston, MA. Skies were clear becoming overcast. Philos moves near a mooring field and passes a ferry and other small boats. Duration of the dataset is approximately 00:02:45 (epoch 1603387383 to 1603387548.)

HIGHLIGHTS

This dataset captures imagery from a mooring field and several small boats, including a ferry
Includes good radar, lidar, and video throughout
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_10_22_mooring_field_with_ferry

Filename: philos_2020_10_22_mooring_field_with_ferry.tar.gz (7.22 GB)

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philos_2020_11_06_moving_and_passing_moving_launch::Boat, Head-on Pass

Philos – Moving And Passing, Moving Launch

This dataset was collected on 2020/11/06 on the vessel R/V Philos in the sailing basin of the Charles River, Boston, MA. Skies were clear. Philos and a small launch pass each other port-to-port under power. Duration of the dataset is approximately 00:01:20 (epoch 1604682922 to 1604683003.)

HIGHLIGHTS

This dataset captures occurrence of vessels passing port-to-port with no other vessels in test area
Includes good radar, lidar, IMU, and video throughout (Note that radar signal disappears when launch is very close by)
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_11_06_moving_and_passing_moving_launch

Filename: philos_2020_11_06_moving_and_passing_moving_launch.tar.gz (3.69 GB)

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philos_2020_11_06_passing_stationary_launch::Boat, Head-on Pass

Philos – Passing, Stationary Launch

This dataset was collected on 2020/11/06 on the vessel R/V Philos in the sailing basin of the Charles River, Boston, MA. Skies were clear. Philos passes a small launch with only Philos under power at about 6 kn. Duration of the dataset is approximately 00:01:20 (epoch 1604682681 to 1604682762.)

HIGHLIGHTS

This dataset captures occurrence of Philos passing a stationary launch with no other vessels in the test area
Includes good radar, lidar, IMU, and video throughout. Note that radar and lidar signals are clipped when launch is very close by. Radar returns from the wake are visible.
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_11_06_passing_stationary_launch

Filename: philos_2020_11_06_passing_stationary_launch.tar.gz (3.53 GB)

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philos_2020_11_06_stationary_passed_by_launch::Boat, Head-on Pass

Philos – Stationary, Passed By Launch

This dataset was collected on 2020/11/06 on the vessel R/V Philos in the sailing basin of the Charles River, Boston, MA. Skies were clear. Philos is at rest and is passed by a small launch. Duration of the dataset is approximately 00:01:40 (epoch 1604682358 to 1604682459.)

HIGHLIGHTS

This dataset captures occurrence of Philos being passed by a launch with no other vessels in the test area
Includes good radar, lidar, IMU, and video throughout. Note that radar and lidar signals are clipped when launch is very close by. Radar returns from the wake are visible.
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_11_06_stationary_passed_by_launch

Filename: philos_2020_11_06_stationary_passed_by_launch.tar.gz (4.07 GB)

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philos_2019_10_29__16_00_19_target_and_sailboats::Sailboat, Marine Obstacle, Dock, Seawall

Philos – Target & Sailboats

This dataset was collected on 2019/10/29 on the vessel R/V Philos on the Charles River near the MIT Sailing Pavilion, Cambridge, MA. Skies were overcast and the weather was mild. The overall intent of testing that day was detection via Lidar and avoidance of a large (~1 m by 2 m) anchored block of Styrofoam while capturing other sensor data. During testing, several sailors passed into and out of the test area, including one that passed close to the target. Duration of the dataset is approximately 00:03:25 (epoch 1572379229 to 1572379426.)

HIGHLIGHTS

Sailors are readily visible in infrared video
Radar and Lidar pointcloud data can be displayed in the same coordinate frame via Rviz, for example, with radar Decay time = 2.5 s and Size = .1 and Lidar Size = .09. Note that sailboat lidar outlines appear to travel ahead of the related radar pointclouds, which refresh every 2.5 s.
Good left and right video acquired at 12 fps and infrared at 30 fps
Broadband radar channel 0 (initially 50 m, changing quickly to 500 m) and channel 1 (range 100 m) capture nearby sailboats, target Styrofoam, and Sailing Pavilion dock complex.

Dataset ID: philos_2019_10_29__16_00_19_target_and_sailboats

Filename: philos_2019_10_29__16_00_19_target_and_sailboats.tar.gz (6.58 GB)

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philos_2019_10_30__12_50_09_mooring_field::Mooring Field, Mooring Ball, Sailboat, Ferry, Boat

Philos – Mooring Field

This dataset was collected on 2019/10/30 on the vessel R/V Philos in Boston Harbor near the New England Aquarium, Boston, MA. Skies were overcast and the weather was mild. The overall intent of testing that day was collection of typical harbor features. During testing, imagery of sailboats in a mooring field was captured, as well as a ferry preparing to dock. Duration of the dataset is approximately 00:02:27 (epoch 1572454214 to 1572454362.)

HIGHLIGHTS

Radar and Lidar pointcloud data can be displayed in the same coordinate frame via Rviz, for example, with radar Decay time = 2.5 s and Size = .1 and Lidar Size = .09. Note that sailboat lidar outlines appear to travel ahead of the related radar pointclouds, which refresh every 2.5 s.
Good left and right video acquired at 12 fps and infrared at 30 fps
Broadband radar channel 0 (range 500 m) and channel 1 (range 100 m) capture nearby sailboats and ferry.

Dataset ID: philos_2019_10_30__12_50_09_mooring_field

Filename: philos_2019_10_30__12_50_09_mooring_field.zip (2.92 GB)

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rex_2019_10_08__13_29_51_harvard_bridge::Bridge, GPS Denied

REx 4 – Harvard Bridge

This dataset was collected on 2019/10/08 on the vessel R/V REx 4 at the Harvard Bridge over the Charles River near the MIT Sailing Center, Cambridge, MA. Skies were overcast. The overall intent of testing that day was collection of sensor data during autonomous navigation of the bridge, including operation in GPS denied areas. During testing, REx passed under the bridge twice upriver and twice downriver. Duration of the dataset is approximately 00:04:20 (epoch 1570556012 to 1570556272.)

HIGHLIGHTS

Good center video was acquired at 12 fps and infrared at 30 fps
Video shows multiple passes under the bridge
Lidar shows details of the bridge structure, including partial details of the superstructure. Note: The lidar in the PCAP file is rotated about the Z axis -90°. Original and corrected topics are available in the rosbag file.
Broadband radar channel 0 (range 250m) and channel 1 (range 100m) captured transits under the bridge, including limited portions of the bridge abutments and superstructure. Since radar images are XY only, these bridge elements combine to appear as solid obstacles.

Dataset ID: rex_2019_10_08__13_29_51_harvard_bridge

Filename: rex_2019_10_08__13_29_51_harvard_bridge.zip (4.87 GB)

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HIGH SPEED

philos_2019_12_11__09_58_25_lighter1::Boat, Ship, Tug, Snow, Waves, Planing

Philos – Lighter 1

This dataset was collected on 2019/12/11 on the vessel R/V Philos in Boston Harbor between Georges Island and Hull, MA. Temperature was near freezing. The skies were just clearing after a light snow squall. The overall intent of testing that day was collection of typical harbor features. During testing, a fuel lighter and tug were captured while Philos was on plane. Duration of the dataset is approximately 00:01:11 (epoch 1576081550 to 1576081620.)

HIGHLIGHTS

Good left and right video were acquired at 12 fps and infrared at 30 fps
Left and right video show close approach to the lighter and tug at speed and a
banking turn to port
The infrared video clearly displays structures heated by tug and lighter exhaust
Snow on the left and right camera lenses partially obscure the frame
Lidar does not capture anything notable in this dataset
Although broadband radar channel 0 (range 100 m) and channel 1 (range 500) capture the lighter and nearby landmasses at 24 fpm, radar imagery is noisy. This highlights the importance of adjusting radar to minimize noise before and during each run and the difficulty of doing so in adverse weather with minimal staff.

Dataset ID: philos_2019_12_11__09_58_25_lighter1

Filename: philos_2019_12_11__09_58_25_lighter1.zip (1.19 GB)

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philos_2019_12_11__09_58_25_lighter2::Boat, Ship, Tug, Snow, Waves, Island, Planing

Philos – Lighter2

This dataset was collected on 2019/12/11 on the vessel R/V Philos in Boston Harbor in Hull Gut, between Hull, MA and Peddocks Island. Temperature was near freezing. Skies were clearing just after a snow squall. The overall intent of testing that day was collection of typical harbor features. During testing, a fuel lighter and tug were captured while Philos was on plane. Duration of the dataset is approximately 00:02:20 (epoch 1576082065 to 1576082204.)

HIGHLIGHTS

Good left and right video were acquired at 12 fps and infrared at 30 fps
In the last 10 seconds of video, Philos makes a hard 180o turn, sweeping past the lighter and tug
Snow on the left camera lens partially obscures the video frame
Lidar does not capture anything notable in this dataset
Although broadband radar channel 0 (range 100 m) and channel 1 (range 500) capture the lighter and nearby landmasses at 24 fpm, radar imagery is noisy. This highlights the importance of adjusting radar to minimize noise before and during each run and the difficulty of doing so in adverse weather with minimal staff.

Dataset ID: philos_2019_12_11__09_58_25_lighter2

Filename: philos_2019_12_11__09_58_25_lighter2.zip (2.61 GB)

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philos_2019_12_11__09_58_25_long_island_bridge::Boat, Ship, Ferry, Snow, Rain, Waves, Bridge, Planing

Philos – Long Island Bridge

This dataset was collected on 2019/12/11 on the vessel R/V Philos in Boston Harbor near the site of the former Long Island Bridge, Quincy, MA. Skies that day started snowy, then transitioned to snow haze, finally clearing. Air temperature was near freezing. The intent of testing that day was capturing data in snowy conditions. Duration of the dataset is approximately 00:03:30 (epoch 1576080900 to 1576081109).

HIGHLIGHTS

A high-speed ferry passes through the bridge abutments just as Philos approaches. Philos takes the ferry wake as it passes the abutments.
Good left and right video at 12 fps and infrared (ferry visible) at 30 fps
The ferry and abutments are visible in the lidar.pcap file
Although broadband radar channel 0 (range 100 m) and channel 1 (range 500) capture the bridge abutments and ferry at 24 fpm, radar imagery is rather noisy. This highlights the importance of adjusting radar to minimize noise before and during each run, and the difficulty of doing so in adverse weather with minimal staff.

Dataset ID: philos_2019_12_11__09_58_25_long_island_bridge

Filename: philos_2019_12_11__09_58_25_long_island_bridge.zip (3.35 GB)

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philos_2020_09_23_donuts::Solar Glare, Bridge, “Donuts”

Philos – Donuts

This dataset was collected on 2020/09/23 on the vessel R/V Philos on the Charles River just west of the Harvard Bridge, Cambridge, MA. Skies were partly cloudy. Philos demonstrates multiple in-place turns. Duration of the dataset is approximately 00:01:10 (epoch 1600888187 to 1600888257.)

HIGHLIGHTS

Philos makes multiple 360º clockwise turns at mid-throttle
Radar (range 500 m) and Lidar are in the dataset and show the Harvard Bridge
IMU data are in the dataset
Good left, center, and right video acquired at 12 fps and left and right infrared at 30 fps

VISUAL LEGEND

Dataset ID: philos_2020_09_23_donuts

Filename: philos_2020_09_23_donuts.tar.gz (3.74 GB)

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