CADDY Underwater Stereo-Vision Dataset

Human-Robot Interaction (HRI) for Divers and AUVs activities

This is an open access dataset distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

A. Gomez Chavez, A. Ranieri, D. Chiarella, E. Zereik, A. Babić, and A. Birk, “Caddy underwater stereo-vision dataset for human–robot interaction (HRI) in the context of diver activities,” Journal of Marine Science and Engineering, vol. 7, no. 1, 2019.
Chiarella, D. Towards Multi-AUV Collaboration and Coordination: A Gesture-Based Multi-AUV Hierarchical Language and a Language Framework Comparison System. J. Mar. Sci. Eng. 2023, 11, 1208.
A. Gomez Chavez, A. Ranieri, D. Chiarella and A. Birk. Underwater Vision-Based Gesture Recognition: A Robustness Validation for Safe Human–Robot Interaction. IEEE Robotics & Automation Magazine, vol. 28, no. 3, pp. 67-78, Sept. 2021
D. Chiarella, M. Bibuli, G. Bruzzone, M. Caccia, A. Ranieri, E. Zereik, L. Marconi, P. Cutugno. “A Novel Gesture-Based Language for Underwater Human–Robot Interaction”, Journal of Marine Science and Engineering, Volume 6, Issue 3, Special Issue "Intelligent Marine Robotics Modelling, Simulation and Applications", 2018

CADDY Caddian gloves

Specs for Caddian Gloves

Caddian gloves are gloves used during most of the CADDY Project Trials to issue Caddian gestures. Caddian is a diver sign language to communicate with Autonomous Underwater Vehicles (AUVs)

CADDY Caddian corpus

100M sentences in Caddian: the Caddian corpus

The corpus currently consists of one hundred million Caddian sentences composed of 1.645.405.039 lemmas. Caddian is a diver sign language to communicate with Autonomous Underwater Vehicles (AUVs)

CADDY Underwater Gestures Dataset

10K stereo pair images collected in 8 different scenarios

Diver sign language (CADDIAN) to communicate with Autonomous Underwater Vehicles (AUVs)

CADDY Underwater Diver Pose Dataset

12K stereo pair images synchronized with diver body pose measurements

Diver tracked by an AUV through stereo camera and suit of IMUs (DiverNet)

CADDY Software Tools

Quick links to software for underwater camera calibration and parsing of datasets

The CADDY EU Project Website

Reference to the main project website, results and gallery of the final review meeting