FLS-dataset

We collected a total of 381 forward-looking sonar images from two distinct locations. These locations were carefully selected to ensure diversity in the dataset, representing both structured and unstructured underwater environments. By incorporating these varied environments, the dataset encompasses a broad spectrum of obstacle types, enhancing its applicability to real-world underwater navigation scenarios. Structured obstacles, such as piers and vessels, have defined geometric shapes and predictable sonar reflections, whereas unstructured obstacles, like rocks and sloped surfaces, exhibit irregular contours and varying sonar signatures. The combination of these elements contributes to a more comprehensive dataset, enabling underwater robots to handle diverse navigational challenges effectively.