{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:58Z","timestamp":1777715938507,"version":"3.51.4"},"reference-count":45,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2022,2,7]],"date-time":"2022-02-07T00:00:00Z","timestamp":1644192000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100010663","name":"H2020 European Research Council","doi-asserted-by":"publisher","award":["CODEMAP \/ 258482"],"award-info":[{"award-number":["CODEMAP \/ 258482"]}],"id":[{"id":"10.13039\/100010663","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Department of Environment, Fisheries and Rural Affairs"},{"DOI":"10.13039\/501100000270","name":"Natural Environment Research Council","doi-asserted-by":"publisher","award":["CLASS programme \/ NE\/R015953\/1"],"award-info":[{"award-number":["CLASS programme \/ NE\/R015953\/1"]}],"id":[{"id":"10.13039\/501100000270","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000270","name":"Natural Environment Research Council","doi-asserted-by":"publisher","award":["MAREMAP"],"award-info":[{"award-number":["MAREMAP"]}],"id":[{"id":"10.13039\/501100000270","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:p>The current maturity of autonomous underwater vehicles (AUVs) has made their deployment practical and cost-effective, such that many scientific, industrial and military applications now include AUV operations. However, the logistical difficulties and high costs of operating at sea are still critical limiting factors in further technology development, the benchmarking of new techniques and the reproducibility of research results. To overcome this problem, this paper presents a freely available dataset suitable to test control, navigation, sensor processing algorithms and others tasks. This dataset combines AUV navigation data, sidescan sonar, multibeam echosounder data and seafloor camera image data, and associated sensor acquisition metadata to provide a detailed characterisation of surveys carried out by the National Oceanography Centre (NOC) in the Greater Haig Fras Marine Conservation Zone (MCZ) of the U.K in 2015.<\/jats:p>","DOI":"10.1177\/02783649221078612","type":"journal-article","created":{"date-parts":[[2022,2,7]],"date-time":"2022-02-07T16:01:41Z","timestamp":1644249701000},"page":"461-469","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":19,"title":["AURORA, a multi-sensor dataset for robotic ocean exploration"],"prefix":"10.1177","volume":"41","author":[{"given":"Marco","family":"Bernardi","sequence":"first","affiliation":[{"name":"Sapienza University of Rome"}]},{"given":"Brett","family":"Hosking","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"given":"Chiara","family":"Petrioli","sequence":"additional","affiliation":[{"name":"Sapienza University of Rome"}]},{"given":"Brian J","family":"Bett","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"given":"Daniel","family":"Jones","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7135-6360","authenticated-orcid":false,"given":"Veerle AI","family":"Huvenne","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"given":"Rachel","family":"Marlow","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"given":"Maaten","family":"Furlong","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"given":"Steve","family":"McPhail","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2284-0011","authenticated-orcid":false,"given":"Andrea","family":"Munaf\u00f2","sequence":"additional","affiliation":[{"name":"National Oceanography Centre"}]}],"member":"179","published-online":{"date-parts":[[2022,2,7]]},"reference":[{"key":"e_1_3_5_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/533452a"},{"key":"e_1_3_5_3_1","doi-asserted-by":"publisher","DOI":"10.1111\/cobi.13312"},{"key":"e_1_3_5_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/518027a"},{"key":"e_1_3_5_5_1","unstructured":"Bryson M Johnson-Roberson M Pizarro O et al. (2013) Automated registration for multi-year robotic surveys of marine benthic habitats. In: 2013 IEEE\/RSJ International conference on intelligent robots and systems Tokyo Japan 3\u20137 November 2013 3344\u20133349."},{"key":"e_1_3_5_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21447"},{"key":"e_1_3_5_7_1","doi-asserted-by":"publisher","DOI":"10.4027\/mhmta.2008.04"},{"key":"e_1_3_5_8_1","doi-asserted-by":"publisher","DOI":"10.3390\/jmse7010016"},{"key":"e_1_3_5_9_1","unstructured":"Cordts M Omran M Ramos S et al. (2016) The cityscapes dataset for semantic urban scene understanding. CoRR abs\/1604.01685. URL http:\/\/arxiv.org\/abs\/1604.01685."},{"key":"e_1_3_5_10_1","unstructured":"Duarte A Codevilla F Gaya JDO et al. (2016) A dataset to evaluate underwater image restoration methods. In: OCEANS 2016 - Shanghai Shanghai China 10\u201313 April 2016 1\u20136."},{"key":"e_1_3_5_11_1","unstructured":"Edgetech (2016) JSF data file description. https:\/\/www.edgetech.com\/wp-content\/uploads\/2018\/06\/0004824_Rev_1.20.pdf. (Online accessed 20-March-2016)."},{"key":"e_1_3_5_12_1","volume-title":"Edgetech 2205 product brochure","author":"Edgetech","year":"2019","unstructured":"Edgetech (2019) Edgetech 2205 product brochure. https:\/\/www.edgetech.com\/wp-content\/uploads\/2019\/07\/2205-auv-and-rov-based-sonar-brochure-020817.pdf. (Online, accessed August-2019)."},{"key":"e_1_3_5_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9810-x"},{"key":"e_1_3_5_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2797558"},{"key":"e_1_3_5_15_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-rsn.2017.0074"},{"key":"e_1_3_5_16_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"e_1_3_5_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-57852-1\\\\text{\\\\_}7"},{"key":"e_1_3_5_18_1","volume-title":"RRS James cook cruise 124-125-126 09 Aug-12 Sep 2016. CODEMAP2015: habitat mapping and ROV vibrocorer trials around Whittard Canyon and Haig Fras","author":"Huvenne V","year":"2016","unstructured":"Huvenne V, Wynn R, Gales J (2016) RRS James cook cruise 124-125-126 09 Aug-12 Sep 2016. CODEMAP2015: habitat mapping and ROV vibrocorer trials around Whittard Canyon and Haig Fras. National Oceanography Centre."},{"key":"e_1_3_5_19_1","volume-title":"Phins Subsea Datasheet","author":"IXBlue","year":"2019","unstructured":"IXBlue (2019) Phins Subsea Datasheet . https:\/\/www.ixblue.com\/sites\/default\/files\/2019-06\/PhinsSubsea_2019.pdf. (Online, accessed August-2019)."},{"key":"e_1_3_5_20_1","doi-asserted-by":"publisher","DOI":"10.1038\/ngeo890"},{"key":"e_1_3_5_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24027-5_46"},{"key":"e_1_3_5_22_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-013-1419-7"},{"key":"e_1_3_5_23_1","volume-title":"Kongsberg EM Series Multibeam echo sounder","author":"Kongsberg","year":"2018","unstructured":"Kongsberg (2018) Kongsberg EM Series Multibeam echo sounder. https:\/\/kmdoc.kongsberg.com. (Online; accessed January-2018)."},{"key":"e_1_3_5_24_1","volume-title":"EM 2040 Datasheet","author":"Kongsberg","year":"2019","unstructured":"Kongsberg (2019) EM 2040 Datasheet. https:\/\/www.kongsberg.com\/globalassets\/maritime\/km-products\/product-documents\/em-2040-mkii-data-sheet.pdf. (Online; accessed August-2019)."},{"key":"e_1_3_5_25_1","volume-title":"Learning multiple layers of features from tiny images","author":"Krizhevsky A","year":"2009","unstructured":"Krizhevsky A (2009) Learning multiple layers of features from tiny images. University of Toronto."},{"issue":"1","key":"e_1_3_5_26_1","first-page":"387","article-title":"WaterGAN: unsupervised generative network to enable real-time color correction of monocular underwater images","volume":"3","author":"Li J","year":"2018","unstructured":"Li J, Skinner KA, Eustice RM, et al. (2018) WaterGAN: unsupervised generative network to enable real-time color correction of monocular underwater images. IEEE Robotics and Automation Letters 3(1): 387\u2013394.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"e_1_3_5_27_1","unstructured":"Lindemuth M Lembke C (2013) Sparse glider datasets: A case study for NoSQL databases. In: 2013 OCEANS. San Diego CA USA 23\u201327 September 2013 1\u20136."},{"key":"e_1_3_5_28_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916679498"},{"key":"e_1_3_5_29_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917732838"},{"key":"e_1_3_5_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(08)60095-5"},{"key":"e_1_3_5_31_1","doi-asserted-by":"publisher","DOI":"10.4319\/lom.2014.12.795"},{"key":"e_1_3_5_32_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21714"},{"key":"e_1_3_5_33_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1213847"},{"key":"e_1_3_5_34_1","unstructured":"Radolko M Farhadifard F von Lukas UF (2016) Dataset on underwater change detection. In: OCEANS 2016 MTS\/IEEE Monterey Monterey CA USA 19-23 September 2016 1\u20138."},{"key":"e_1_3_5_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2174065"},{"key":"e_1_3_5_36_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-017-09382-z"},{"key":"e_1_3_5_37_1","doi-asserted-by":"publisher","DOI":"10.5670\/oceanog.2017.421"},{"key":"e_1_3_5_38_1","unstructured":"Roper DT Phillips AB Harris CA et al. (2017) Autosub long range 1500: An ultra-endurance auv with 6000 km range. In: OCEANS 2017 Aberdeen UK 19\u201322 June 2017 1\u20135."},{"key":"e_1_3_5_39_1","article-title":"Southampton to Southampton. Autonomous ecological surveying of the abyss: understanding mesoscale spatical heterogeneity at the Porcupine Abyssal Plain","author":"Ruhl H","year":"2013","unstructured":"Ruhl H (2013) Southampton to Southampton. Autonomous ecological surveying of the abyss: understanding mesoscale spatical heterogeneity at the Porcupine Abyssal Plain. RRS Discovery Cruise 377 & 378, 05\u201327 Jul 2012.","journal-title":"RRS Discovery Cruise 377 & 378"},{"key":"e_1_3_5_40_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0816-y"},{"key":"e_1_3_5_41_1","unstructured":"Skinner KA Johnson-Roberson M (2017) Underwater image dehazing with a light field camera. In: 2017 IEEE conference on computer vision and pattern recognition workshops (CVPRW) Honolulu HI USA 21\u201326 July 2017 1775\u20131782."},{"key":"e_1_3_5_42_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103911"},{"key":"e_1_3_5_43_1","volume-title":"SonarWiz Software","author":"Technolog C","year":"2016","unstructured":"Technolog C (2016) SonarWiz Software. https:\/\/chesapeaketech.com\/products\/sonarwiz-sidescan\/"},{"key":"e_1_3_5_44_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.margeo.2014.03.012"},{"key":"e_1_3_5_45_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe1901"},{"key":"e_1_3_5_46_1","unstructured":"Zhang J Tao B Liu H et al. (2016) A mosaic method based on feature matching for side scan sonar images. In: 2016 IEEE\/OES China ocean acoustics (COA) Harbin China 9-11 January 2016. IEEE 1\u20136."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649221078612","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649221078612","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649221078612","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:55Z","timestamp":1777457815000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649221078612"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,7]]},"references-count":45,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["10.1177\/02783649221078612"],"URL":"https:\/\/doi.org\/10.1177\/02783649221078612","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,2,7]]}}}