MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection
Olaya Álvarez-Tuñón,Hemanth Kanner,Luiza Ribeiro Marnet,Huy Xuan Pham,Jonas le Fevre Sejersen,Yury Brodskiy,Erdal Kayacan,Olaya Álvarez-Tuñón,Hemanth Kanner,Luiza Ribeiro Marnet,Huy Xuan Pham,Jonas le Fevre Sejersen,Yury Brodskiy,Erdal Kayacan
This paper presents MIMIR-UW, a multipurpose underwater synthetic dataset for SLAM, depth estimation, and object segmentation to bridge the gap between theory and application in underwater environments. MIMIR-UW integrates three camera sensors, inertial measurements, and ground truth for robot pose, image depth, and object segmentation. The underwater robot is deployed within a pipe exploration sc...
