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Dry Harbour Image Dataset for Semantic Segmentation

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posted on 17.08.2022, 12:55 authored by Rui Pimentel de Figueiredo, Jonas le Fevre Sejersen, Jakob Grimm Hansen, Martim BrandaoMartim Brandao

This dataset was used to produce the results in the paper "Integrated Design-Sense-Plan Architecture for Autonomous Geometric-Semantic Mapping with UAVs", Frontiers in Robotics and AI, 2022.


The dataset consists of training data for a semantic segmentation network targeted at robotic inspection of dry dock shipyard environments.

The data was generated by using a combination of Unreal Engine 4 and AirSim: to create a realistic virtual dockyard environment and to extract images and corresponding labels (Sky, Harbor wall, Floor, Ship, Unknown).

Funding

Trust in Human-Machine Partnership

Engineering and Physical Sciences Research Council

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Smart Industry Program (European Regional Development Fund and Region Midtjylland, grant no.: RFM-17-0020)

History