OA Stereo Opti Acoustic Underwater Stereo Dataset Overview This dataset accompanies the paper: OA Stereo: Self Supervised Opti Acoustic Stereo for Robust 3D Perception of Underwater Vehicles (Accepted by IEEE Robotics and Automation Letters (RA L), 2025) This dataset is collected based on the DAVE underwater robotics platform , and provides calibrated optical stereo images and forward looking sonar data for studying opti acoustic stereo perception , dense depth estimation , and robust 3D reconstruction in underwater environments. 🔗 Project Page (Code & Models) : https://github.com/c237814486/OA Stereo Sensor Modalities Each scene contains synchronized and calibrated multi modal data: Optical Cameras Left and right RGB images Camera intrinsics Stereo extrinsic parameters Sonar Forward looking imaging sonar data Acoustic projection parameters Sonar view images used for cross modal supervision Depth / Disparity Metric depth and disparity maps are provided for each scene. Depth and disparity are accurately aligned with the corresponding RGB cameras. Dataset Structure Citation If you use this dataset in your research, please cite the following paper:
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