aqua_localization

ROS 2 underwater localization

aqua_localization

Real AUV/ROV replays for IMU, pressure, DVL, sonar registration, pose graphs, and underwater 3DGS artifacts.

Open GitHub 3DGS viewer Star project
0.43 m Tank DVL APE RMSE
4 demos public underwater datasets
20 frames 3DGS sample pack

Public-data replays.

Each visual below is generated from a recorded underwater demo bag and links back to reproducible ROS 2 bring-up notes.

Tank Dataset short_test localization replay in rerun.io

Tank Dataset

DVL + pressure localization with AprilTag ground truth and 0.43 m APE RMSE.

 MBES-SLAM beach_pond bathymetry replay in rerun.io

MBES-SLAM

Multibeam fans accumulated into a depth-colored bathymetric scan.

 NTNU fjord_1 underwater localization replay in rerun.io

NTNU Fjord

Dataset SLAM baseline through a 7 m fjord dive with depth tracking.

 AQUALOC harbor_07 underwater camera and pressure replay in rerun.io

AQUALOC

LIRMM Dumbo ROV camera replay with pressure-derived depth track.
Underwater 3DGS sample viewer with frame preview, 3D camera path, and playback controls

Underwater 3DGS sample

Inspect the Tank sample before downloading it.

The viewer plays 20 real Tank Dataset frames, matched poses, manual stereo intrinsics, and a nerfstudio-style sample pack path.

Play viewer Download pack

Built around underwater-specific failure modes.

The stack keeps pressure depth, vehicle-frame DVL, sonar ambiguity, and loop-closure diagnostics explicit instead of hiding them behind generic robot localization plumbing.

Run

Build and launch the ROS 2 stack

Humble and Jazzy commands for the metapackage, launch files, and public bag replay path.

 Tune

Inspect MBES loop-closure candidates

RViz markers and status topics expose accepted, rejected, and gated sonar constraints.

 Contribute

Bring a dataset or benchmark result

Issue templates capture bag source, topics, commands, metrics, and limitations.