DADDI@CRAS - Durius Aerial Dataset with Diversified Information

This dataset was acquired during a campaign of the project ATLANTIS on the ATLANTIS Coastal Testbed, in the harbor of Viana do Castelo, Portugal (location of the ATLANTIS Coastal Testbed: maps.app.goo.gl/2LdS3C9KSeB2XD4J7). In this mission, RAVEN was remotely operated while collecting synchronized multimodal data of the DURIUS structure from different points of view at 10~Hz, gathering visual images (from a HIKROBOT MV-CA016-10UC visual camera), thermal images (from a FLIR Boson 640 Radiometry thermal camera) and point clouds (from a Ouster OS1-64), as well as of the navigation sensors such as RTK GPS (UBLOX F9P with IST8310 compass) and IMUs (ICM20649, ICM20602 and ICM20948, with MS5611 barometer).

The dataset comprises over 2500 images captured by both visual and thermal cameras, complemented by a corresponding number of Point Cloud Data (PCDs) generated by the 3D LiDAR. The correspondent intrinsic and extrinsic calibration of these sensors are also provided. The data collected from the GPS and IMU sensors have also been recorded in CSV files, with GPS data (latitude, longitude and altitude), IMU data (orientation, angular velocity and linear acceleration), and Odometry data (local pose: position and orientation, and local velocity: linear and angular).

The timestamp indicating the collection moment for each data type is embedded in both the image and PCD names, as well as in each line of the CSV files. All this data is also provided through ROS topics saved into rosbag files."