Underwater images collected by an Autonomous Surface Vehicle in St-Leu, Réunion - 2025-11-28

This dataset was collected by an Autonomous Surface Vehicle in St-Leu, Réunion - 2025-11-28. 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. This dataset is part of larger collection referencing numerous underwater and aerial images Seatizen Altas. Methods, tools and scientific objectives are also described in a dedicated data paper. Image acquisition This session has 17.0 GB of MP4 files, which were trimmed into 5745 frames (at 2997/1000 fps). The frames are georeferenced. 99.9% of these extracted images are useful and 0.1% 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: 73.97 %, Q2: 25.78 %, Q5: 0.25 % 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 0.283 m. The raster and shapefiles are generated by linear interpolation. The 3D reconstruction algorithm is ballpivot. Photogrammetry OpenDroneMap software was used to create an orthophoto from the raw images. Here is the list of parameters different from the default values for the orthophoto generation. For more details, you can read the log.json file or the 000_photogrammatry_report.pdf report. {'auto_boundary': True, 'cog': True, 'fast_orthophoto': True, 'feature_quality': 'ultra', 'gps_accuracy': 0.1, 'max_concurrency': 50, 'optimize_disk_space': True, 'orthophoto_resolution': 0.1, 'rolling_shutter': True, 'rolling_shutter_readout': 9.0, 'skip_3dmodel': True} 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!本数据集由自主水面载具（Autonomous Surface Vehicle）于2025年11月28日在留尼汪岛圣勒（St-Leu）采集。 科研人员或民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。此类影像经标注后可共享，用于训练人工智能模型以实现图像目标识别。我们提供一套涵盖硬件与软件的工具集，可用于海洋数据采集、物种或栖息地识别以及地图生成。 本数据集是更大规模的Seatizen Altas影像集的一部分，该数据集收录了大量水下与航空影像。相关方法、工具及科学目标已在专属数据论文中详细阐述。 ### 图像采集 本次采集任务生成了17.0GB的MP4文件，经剪辑后得到5745帧图像（帧率为2997/1000 fps）。所有帧均已完成地理配准。根据雅克模型（Jacques model）的预测结果，其中99.9%的提取图像为有效帧，剩余0.1%为无效帧。针对有效帧，已通过DinoVd'eau模型完成多标签预测。 ### GPS信息 本数据采用后处理运动学（Post-Processed Kinematic, PPK）工作流进行处理，以实现厘米级GPS定位精度。 基准站：数据来自实时动态差分（Real-Time Kinematic, RTK）固定GPS基站或可提供校正帧的静态定位设备。 设备GPS：Emlid Reach M2 数据质量分布：Q1占比73.97%，Q2占比25.78%，Q5占比0.25%。 ### 测深数据 本数据通过单波束回声测深仪S500采集。我们仅保留带有Q1级GPS校正的测深值，同时保留航路点数据。此外，我们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系对齐，随后根据需要引入局部大地水准面进行校正。处理完成后，数据被投影至统一网格以生成栅格文件（raster）与形状文件（shapefiles）。网格单元尺寸为0.283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）。 ### 摄影测量 本研究采用OpenDroneMap软件基于原始图像生成正射影像。以下为与默认参数存在差异的正射影像生成参数： {'auto_boundary': True, 'cog': True, 'fast_orthophoto': True, 'feature_quality': 'ultra', 'gps_accuracy': 0.1, 'max_concurrency': 50, 'optimize_disk_space': True, 'orthophoto_resolution': 0.1, 'rolling_shutter': True, 'rolling_shutter_readout': 9.0, 'skip_3dmodel': True} 如需了解更多细节，可查阅log.json文件或000_photogrammetry_report.pdf报告。 ### 通用文件夹结构 文件夹命名格式为：YYYYMMDD_COUNTRYCODE-optionalplace_device_session-number ├── DCIM：用于存储采集到的视频与照片文件，具体取决于采集介质类型。 ├── GPS：用于存储所有与定位相关的文件。若文件可通过后处理技术进行校正（例如基于RINEX数据的后处理运动学校正），则需区分基准站数据与设备数据；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），则无需区分基准站与设备数据，文件直接放置于GPS文件夹根目录。 │ ├── BASE：存储来自RTK基站或静态定位设备的基准数据。 │ └── DEVICE：存储来自采集设备的定位数据。 ├── METADATA：存储本次采集任务的通用信息文件。 ├── PROCESSED_DATA：用于存储当前任务数据处理后的所有结果文件，包含以下子文件夹： │ ├── BATHY：存储从任务日志中提取的测深原始数据的输出文件夹。 │ ├── FRAMES：存储从DCIM文件夹视频中提取的地理配准帧图像的输出文件夹。 │ ├── IA：存储图像识别预测结果的目标文件夹。 │ └── PHOTOGRAMMETRY：存储摄影测量重建模型的目标文件夹。 └── SENSORS：用于存储其他来源的文件（例如回声测深仪采集的测深数据、自动驾驶仪日志文件、任务规划文件等）。 ### 软件说明 所有原始数据均通过我们的工作流进行处理，所有预测结果均由我们的推理管线生成。您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顺利！