Title: Hamburg port demonstration litter map
Author: the SeaClear team; corresponding author Vicu Maer (vicu.maer@aut.utcluj.ro)
Files:
	-Hamburg_53.5250939_10.0041541_0.05.pcd
the file is a Point Cloud Data (PCD) file, the primary data format in the point cloud library (PCL). The file has an ascii header specifying the cloud metadata before the binary data representing the points. The scene is made up of the sea floor, a trash collection basket, two metal trays filled with example, preplaced litter and a preplaced example of a larger litter item - tire.

	-litter_locations.txt
the file contains the coordinates of the centroids of the two litter trays and the tire in the point cloud in this order.


Acquisition/Generation:
The pointcloud was generated from a bathymetry scan using a multi-beam echo sounder. The target coordinates were obtained by manually identifying the litter objects in sonar images generated from an unmanned underwater vehicle and projecting these objects into the pointcloud [1].
The pointcloud has a maximum resolution of 0.05m. The points are expressed in a local, metric East-North-Up (ENU) frame. They were converted to this representation from geodetic coordinates using the AlvinXY rectilinear projection around the origin point 53.5250939 degrees latitude, 10.0041541 degrees longitude.

Date:
The bathymetry cloud was generated on 07.06.2023
The target positions were computed on 13.06.2023

Location:
The bathymetry scan spans the following intervals of geodetic coordinates [53.5250569, 53.5253431] latitude, [10.0024685, 10.0033315] longitude

The map's bounding box dimensions are 57.24m, 32.11m, 3.05m on the x,y,z axes of the ENU frame respectively

References:


