Underwater images collected by an Autonomous Surface Vehicle in St-Gilles-Canyon, Réunion - 2023-11-29

This dataset was collected by an Autonomous Surface Vehicle in St-Gilles-Canyon, Réunion - 2023-11-29.

Underwater or aerial images collected by scientists or citizens can have a wide variety of use for science, management, or conservation.
These images can be annotated and shared to train IA models which can in turn predict the objects on the images.
We provide a set of tools (hardware and software) to collect marine data, predict species or habitat, and provide maps.

Image acquisition
This session has 27.62 GB of MP4 files, which were trimmed into 9798 frames (at 2997/1000 fps).
The frames are georeferenced.
86.94% of these extracted images are useful and 13.06% are useless, according to predictions made by Jacques model.
Multilabel predictions have been made on useful frames using DinoVd'eau model.

GPS information:
The data was processed with a PPK workflow to achieve centimeter-level GPS accuracy.
Base : Files coming from rtk a GPS-fixed station or any static positioning instrument which can provide with correction frames.
Device GPS : Emlid Reach M2
Quality of our data - Q1: 98.06 %, Q2: 1.56 %, Q5: 0.38 %

Bathymetry

The data are collected using a single-beam echosounder S500.

We only keep the values which have a GPS correction in Q1.
We keep the points that are the waypoints.

We keep the raw data where depth was estimated between 0.2 m and 50.0 m deep.
The data are first referenced against the WGS84 ellipsoid. Then we apply the local geoid if available.
At the end of processing, the data are projected into a homogeneous grid to create a raster and a shapefiles.
The size of the grid cells is 0.608 m.
The raster and shapefiles are generated by linear interpolation. The 3D reconstruction algorithm is ballpivot.

Generic folder structure

YYYYMMDD_COUNTRYCODE-optionalplace_device_session-number
├── DCIM : folder to store videos and photos depending on the media collected.
├── GPS : folder to store any positioning related file. If any kind of correction is possible on files (e.g. Post-Processed Kinematic thanks to rinex data) then the distinction between device data and base data is made. If, on the other hand, only device position data are present and the files cannot be corrected by post-processing techniques (e.g. gpx files), then the distinction between base and device is not made and the files are placed directly at the root of the GPS folder.
│ ├── BASE : files coming from rtk station or any static positioning instrument.
│ └── DEVICE : files coming from the device.
├── METADATA : folder with general information files about the session.
├── PROCESSED_DATA : contain all the folders needed to store the results of the data processing of the current session.
│ ├── BATHY : output folder for bathymetry raw data extracted from mission logs.
│ ├── FRAMES : output folder for georeferenced frames extracted from DCIM videos.
│ ├── IA : destination folder for image recognition predictions.
│ └── PHOTOGRAMMETRY : destination folder for reconstructed models in photogrammetry.
└── SENSORS : folder to store files coming from other sources (bathymetry data from the echosounder, log file from the autopilot, mission plan etc.).

Software
All the raw data was processed using our worflow. All predictions were generated by our inference pipeline. You can find all the necessary scripts to download this data in this repository. Enjoy your data with SeatizenDOI!

本数据集于2023年11月29日，由自主水面航行器（Autonomous Surface Vehicle）在留尼旺岛圣吉勒峡谷（St-Gilles-Canyon, Réunion）采集。

科学家或公众采集的水下与航空影像可广泛应用于科学研究、资源管理与生态保护领域。此类影像可经标注后共享，用于训练人工智能模型以实现图像目标识别。我们提供一套包含硬件与软件的工具集，可用于海洋数据采集、物种或生境预测，并可生成相关地图。

图像采集
本次采集会话生成27.62 GB的MP4视频文件，经剪辑提取得到9798帧图像（帧率为2997/1000 fps）。所有提取帧均已完成地理配准。根据雅克（Jacques）模型的预测结果，其中86.94%的提取图像为有效样本，剩余13.06%为无效样本。针对有效帧，我们已通过DinoVd'eau模型完成多标签预测。

GPS信息
本数据集采用后处理动态差分（PPK, Post-Processed Kinematic）工作流进行处理，以实现厘米级GPS定位精度。基站数据：来自rtk固定GPS基站或可提供校正帧的静态定位设备。设备GPS：采用Emlid Reach M2设备。数据质量分级：Q1占比98.06%，Q2占比1.56%，Q5占比0.38%。

水深测量
本数据集通过单波束测深仪S500采集。我们仅保留带有Q1级GPS校正的测量值，且选取航点对应的数据点。同时保留水深估算值介于0.2米至50.0米之间的原始数据。数据首先以WGS84椭球为基准进行参考对齐，随后若存在当地大地水准面则进行校正。处理完成后，将数据投影至统一网格以生成栅格文件与形状文件（shapefiles），网格单元尺寸为0.608米。栅格与形状文件通过线性插值生成，三维重建算法采用球枢算法（ballpivot）。

通用文件夹结构
YYYYMMDD_COUNTRYCODE-optionalplace_device_session-number
├── DCIM：用于存储采集所得视频与照片的文件夹。
├── GPS：用于存储所有与定位相关的文件。若可对文件进行校正（例如基于rinex数据的后处理动态差分校正），则需区分基站数据与设备数据；若仅存在设备位置数据且无法通过后处理技术校正（例如gpx文件），则无需区分基站与设备数据，文件直接放置于GPS文件夹根目录。
│ ├── BASE：来自rtk基站或静态定位设备的文件。
│ └── DEVICE：来自采集设备的文件。
├── METADATA：存储本次采集会话通用信息文件的文件夹。
├── PROCESSED_DATA：包含存储本次会话数据处理结果所需的全部子文件夹。
│ ├── BATHY：从任务日志中提取的水深原始数据输出文件夹。
│ ├── FRAMES：从DCIM视频中提取的地理配准帧输出文件夹。
│ ├── IA：人工智能（IA）识别预测结果的存储目录。
│ └── PHOTOGRAMMETRY：摄影测量重建模型的存储目录。
└── SENSORS：用于存储其他来源的文件（例如测深仪采集的水深数据、自动驾驶仪日志文件、任务规划文件等）。

软件处理
所有原始数据均通过本团队开发的工作流完成处理，所有预测结果均由本团队的推理流水线生成。你可在本代码仓库中获取下载该数据集所需的全部脚本。祝您使用SeatizenDOI获取的数据集顺利！