An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)

We present a dataset for acoustic and optical sensing of unexploded ordnance (UXO) underwater. UXO in the sea pose an environmental problem and a challenge for the growing offshore economy. It is best practice to perform the recovery of ammunition without explosions to protect anthropogenic structures and marine mammals. During explosive ordnance disposal (EOD), experts often rely on optical images. However, visibility underwater may be limited in harbor areas, after storm events or in waters with very mobile sediments. Thus, visual inspection is not always possible. EOD experts therefore use high-frequency sonars with large vertical apertures like the ARIS Explorer 3000 for acoustic imaging. While efforts have been made to use the available information for 3D reconstruction, existing solutions can be limited to predefined motion patterns. The topic is inherently sensitive, and most of the data is acquired by and for private companies and not made available to the public, which impedes research in this area. Additionally, in-situ data often lacks sufficient pose information. To facilitate further research, we created a validation dataset that was recorded in a controlled experimental environment. It has the following properties: Close to 100 recordings of 3 different UXO. More than 74000 matched and annotated imaging sonar and camera frames. UXO ground truths in the form of photogrammetric 3D models. Precise position and attitude sensor data with respect to the targets. Realistic motion trajectories achievable in non-experimental environments. This dataset allows quantitative analysis with different algorithms. 3D models and trajectories can be compared against each other to evaluate different solutions. The accompanying paper is: @INPROCEEDINGS{dahn2024uxo, author={Dahn, Nikolas and Firvida, Miguel Bande and Sharma, Proneet and Christensen, Leif and Geisle, Oliver and Mohrmann, Jochen and Frey, Torsten and Kumar Sanghamreddy, Prithvi and Kirchner, Frank}, booktitle={OCEANS 2024 - Halifax}, title={An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)}, year={2024}, doi={10.1109/OCEANS55160.2024.10754316}} The paper is available on researchgate. Notes: Labels have been (unfortunately) generated for the SD camera frames. To get the correct coordinates on the included FHD images, multiply all coordinates by 3. Files: data_export_recordings.7z: main dataset data_export_polar.7z: contains only the polar-transformed sonar frames data_export_3dmodels.7z: 3d models of the UXO data_processed.7z: extracted and cut unmatched raw data本研究提出一款面向水下未爆炸弹药（unexploded ordnance, UXO）的声光学感知数据集。 海洋中的未爆炸弹药不仅会引发环境问题，同时也对日益壮大的海洋经济构成挑战。为保护人工构筑物与海洋哺乳动物，行业通行的最佳实践是在不发生爆炸的前提下完成弹药打捞作业。在爆炸物处理（explosive ordnance disposal, EOD）作业中，专家通常依赖光学成像获取信息。然而，在港口区域、风暴过后或沉积物活动性极强的水域中，水下能见度往往受限，因此视觉巡检并非总能实现。为此，爆炸物处理专家会采用诸如ARIS Explorer 3000这类大垂直孔径的高频声呐开展声学成像。尽管已有研究尝试利用现有信息开展三维重建，但现有方案往往仅能适用于预设运动模式。 该研究主题本身具有敏感性，且绝大多数数据集由私营企业获取并仅供其内部使用，并未对公众开放，这极大阻碍了该领域的研究进展。此外，原位采集的数据往往缺乏足够的位姿信息。为推动该领域的后续研究，我们构建了一套在可控实验环境中采集的验证数据集。该数据集具备以下特性： - 涵盖3种不同未爆炸弹药的近百组采集记录。 - 包含超过74000组经过配准与标注的成像声呐与相机帧数据。 - 提供以摄影测量三维模型形式存在的未爆炸弹药真值数据。 - 搭载针对目标的高精度位置与姿态传感器数据。 - 包含可在非实验环境中复现的真实运动轨迹。 本数据集支持基于多种算法开展定量分析，可通过对比三维模型与运动轨迹，对不同解决方案进行性能评估。 配套研究论文如下： @INPROCEEDINGS{dahn2024uxo, author={Dahn, Nikolas and Firvida, Miguel Bande and Sharma, Proneet and Christensen, Leif and Geisle, Oliver and Mohrmann, Jochen and Frey, Torsten and Kumar Sanghamreddy, Prithvi and Kirchner, Frank}, booktitle={OCEANS 2024 - Halifax}, title={An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)}, year={2024}, doi={10.1109/OCEANS55160.2024.10754316}} 该论文可在ResearchGate平台获取。 注：（遗憾的是）标签仅针对SD格式相机帧生成。若需在配套的全高清（FHD）图像中获取正确坐标，请将所有坐标值乘以3。 文件说明： data_export_recordings.7z：主数据集文件 data_export_polar.7z：仅包含极坐标变换后的声呐帧数据 data_export_3dmodels.7z：未爆炸弹药三维模型文件 data_processed.7z：经提取与裁剪后的未匹配原始数据文件