Tank dataset: An underwater multi-sensor dataset for SLAM evaluation

Shida Xu, Jonatan Scharff Willners, Joshua Roe, Sean Katagiri, Tomasz Luczynski, Yvan Petillot, Sen Wang, Department of Electrical and Electronic Engineering, Imperial College London, School of Engineering and Physical Sciences, Heriot-Watt University

The International Journal of Robotics Research

Published online on August 30, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 4, Page 541-551, April 2026.
Underwater visual Simultaneous Localization and Mapping (SLAM) is essential for autonomous underwater navigation and close-range underwater inspection. However, the turbid and low-light conditions common underwater severely limit visibility and cause ...