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Documentation Index

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UXO Dataset 2024

Multimodal underwater unexploded ordnance perception dataset with acoustic sonar and optical camera data

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About the Dataset

During the 20th century, millions of tons of munition were dumped into the oceans worldwide. After decades of decay, these unexploded ordnance (UXO) are causing significant problems. This dataset facilitates more efficient salvage efforts through autonomous underwater vehicles by providing representative multimodal data for acoustic and optical sensing of UXO underwater. The dataset includes close to 100 trajectories and over 74,000 frames of 3 distinct types of UXO recorded in a controlled environment using:
  • ARIS Explorer 3000 imaging sonar
  • GoPro Hero 8 camera
  • Custom-designed gantry crane for precise positioning

Access the Dataset

Download the dataset from Zenodo

View Data

Learn how to visualize synchronized recordings

Dataset Structure

Understand the data organization and formats

Processing Pipeline

Explore the preprocessing and export tools

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Key Features

Multimodal Data

Synchronized ARIS sonar scans with matched GoPro footage

Accurate Transforms

Precise calibration matrices between sensors and targets

3D Models

Textured 3D models of UXO targets included

Annotations

Labeled camera frames with bounding boxes

Processing Tools

Complete preprocessing and export scripts

Open Access

Publicly available for research use

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Dataset Properties

  • Sonar scans of multiple UXO using ARIS Explorer 3000 imaging sonar
  • Matched GoPro UHD frames for most sonar frames
  • Labels for GoPro frames (multiply coordinates by 3)
  • Known and accurate transforms between sonar and targets
  • Known details of UXO targets including munition types, dimensions, and 3D models
  • Tracked scan trajectories typical and achievable for non-experimental environments
  • Publicly available at https://zenodo.org/records/13778485

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Citation

When using this dataset or the processing code, please cite: 
@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},
  title={An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)}, 
  booktitle={OCEANS 2024 - Halifax}, 
  year={2024},
  doi={10.1109/OCEANS55160.2024.10754316}
}

Read the Paper

View the full research paper on ResearchGate

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