Duke Robotics Club 2023

RoboSub 2023

Object Detection

RoboSub 2023 Computer Vision Project


22023 images
Explore Dataset

Welcome to the Duke Robotics Club's RoboSub 2023 dataset, a comprehensive collection of meticulously curated and annotated images designed to train autonomous underwater vehicles for the RoboSub 2023 competition!

This 50,000+ image dataset consists of the four buoy glyphs—Cetus, Taurus, Serpens Caput, and Auriga—and the two gate glyphs for Abydos and Earth. Our dataset consists of equal amounts of real-world and simulated images which accurately represent the diverse underwater environment of RoboSub 2023.

The real-world images were captured in a competition-like environment with different glyph orientations and camera angles while the simulated images were generated using the Unity Perception package. Special emphasis was placed on simulating the specific environmental conditions of the TRANSDEC pool, such as its characteristic murkiness. The combination of these two types of images has resulted in a robust dataset specifically tailored to RoboSub 2023’s unique demands.

Our aim is to provide a rich resource for teams looking to train their models on accurate and extensive data. Access to this dataset is open to all, in line with the Duke Robotics Club's commitment to fostering a collaborative and innovative robotic community. We encourage you to use this data to fine-tune your models, share your findings, and contribute to the ongoing exploration and evolution of autonomous underwater vehicle technology.

Cite This Project

If you use this dataset in a research paper, please cite it using the following BibTeX:

                            title = { RoboSub 2023 Dataset },
                            type = { Open Source Dataset },
                            author = { Duke Robotics Club 2023 },
                            howpublished = { \url{ https://universe.roboflow.com/duke-robotics-club-2023/robosub-2023 } },
                            url = { https://universe.roboflow.com/duke-robotics-club-2023/robosub-2023 },
                            journal = { Roboflow Universe },
                            publisher = { Roboflow },
                            year = { 2023 },
                            month = { nov },
                            note = { visited on 2024-04-23 },

Connect Your Model With Program Logic

Find utilities and guides to help you start using the RoboSub 2023 project in your project.

Last Updated

6 months ago

Project Type

Object Detection



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CC BY 4.0


buoy_abydos_serpenscaput buoy_abydos_taurus buoy_earth_auriga buoy_earth_cetus gate_abydos gate_earth