Short-Term Mission at Heriot-Watt University

INESC TEC PhD student Bernardo Teixeira did a short-term internship at Edinburgh's Heriot-Watt University under the guidance of Prof. Sen Wang. For 3 weeks, Bernardo studied novel training and refinement techniques for motion estimation within deep learning - based visual-acoustic pipelines. In addition, alternative methodologies and new ideas for leveraging acoustic data in the context of robotic motion estimation were explored and discussed, namely what concerns to sensor fusion and regressing a statistically relevant measure of uncertainty.

The resulting rosbag file containing synchronous camera image, acoustic multibeam point clouds and groundtruth trajectory data from the UX1 Neo robot is available for download in the following link: . With this data, it is possible to benchmark the performance of the visual-acoustic odometry algorithms being developed in an underwater scenario (i.e. CRAS lab pool)