Paired Sonar / Optical Video Dataset

This dataset was collected for L. Viney's undergraduate engineering honors thesis at UNSW in collaboration with Reach Robotics. It features paired forward facing multibeam sonar and optical video recordings gathered using an Oculus M series sonar mounted on a FUSION ROV in Sydney Harbour. Reach Robotics retains rights and ownership of the data, which is released under a Creative Commons CC BY-NC-SA license.

Dataset ContentsSonar Recordings: Proprietary-format sonar files compatible with Oculus Viewer software.Optical Video Recordings: Synchronized optical video files paired with each sonar recording.Bounding Box Labels: A limited number of sessions include bounding box annotations for sonar data, provided as CSV files.

PrerequisitesTo view and analyze the sonar data, download the Oculus Viewer software from Blueprint Subsea:https://www.blueprintsubsea.com/oculus/support

Folder StructureThe dataset is organized with each session containing both sonar and optical video files. Sessions with annotations also contain CSV files for bounding box labels.

dataset/├── session1/│   ├── sonar.oculus│   ├── optical.mp4│   └── labels.csv        # Bounding box annotations (if available)├── session2/│   ├── sonar.oculus│   ├── optical.mkv│   └── labels.csv        # Only in labeled sessions└── README.md

Data AnnotationsAnnotations are provided as CSV files in specific sessions. Each CSV file includes bounding box coordinates for objects in the sonar frames, with columns typically structured as:

frame_id, object_1_x_min, object_1_y_min, object_1_x_max, object_1_y_max, object_2 ...

UsageSonar Data: Use the Oculus Viewer software to load and view .oculus files.Annotations: Use the CSV files for supervised learning or object detection by overlaying bounding boxes on sonar data.Optical Video: Optical video files are compatible with standard video analysis tools.

LicenseThis dataset is licensed under the Creative Commons CC BY-NC-SA license. Reach Robotics retains ownership and rights to the data.