Data set collected with an autonomous underwater vehicle testbed in the unstructured environment of an underwater cave complex. The vehicle is equipped with two mechanically scanned imaging sonar sensors to simultaneously map the caves horizontal and vertical surfaces, a Doppler velocity log, two inertial measurement units, a depth sensor, and a vertically mounted camera imaging the sea floor for ground truth validation at specific points. The testbed collected the data in July 2013, guided by a human diver, to sidestep autonomous navigation in a complex environment. For ease of use, the original robot operating system bag files are provided together with a version combining imagery and human-readable text files for processing on other environments. This dataset was described in: Mallios A, Vidal E, Campos R, Carreras M. Underwater caves sonar data set. The International Journal of Robotics Research. 2017;36(12):1247-1251. doi:10.1177/0278364917732838 Web: https://cirs.udg.edu/caves-dataset/

This research has been partially supported by the EU FP7 project Techniospring-Marie Curie (TECSPR13-1-0052), and the Spanish project ARCHROV (DPI2014-57746-C3-3-R)