Abstract
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial Marine Perception Dataset (AMP2026), a multi-platform marine robotics dataset collected across multiple field deployments designed to support research in two primary areas: multi-view tracking and marine environment mapping. The dataset includes synchronized data from aerial drones, boat-mounted cameras, and submerged robotic platforms, along with associated localization and telemetry information. The goal of this work is to provide a publicly available dataset enabling research in marine perception and multi-robot observation scenarios. This paper describes the data collection methodology, sensor configurations, dataset organization, and intended research tasks supported by the dataset.
Abstract (translated)
海洋环境由于动态表面、有限的能见度以及空中、水面和水下感知模式之间的复杂交互，为感知和自主性带来了显著挑战。本文介绍了Aerial Marine Perception Dataset（AMP2026），这是一个多平台海上机器人数据集，在多个实地部署中收集而成，旨在支持两个主要研究领域：多视图跟踪和海洋环境测绘。该数据集包括来自空中无人机、船载摄像机和水下机器人平台的同步数据，以及相关的定位和遥测信息。这项工作的目标是提供一个公开可用的数据集，以促进海洋感知及多机器人观测场景的研究。本文描述了数据收集方法、传感器配置、数据集组织以及该数据集支持的研究任务。
URL
https://arxiv.org/abs/2603.04225
