Bremen MSS Datasets

The Bremen MSS Datasets provide Mechanical Scanning Sonar (MSS) data recorded from an Unmanned Underwater Vehicle (UUV) localized with ground truth using an optical tracking system. The data can be accessed and downloaded from, which is a browsable web-directory. The whole data and documentation can also be downloaded as a single zip-file from – please note that this is a large file with 5.5 GB.

The following white-paper provides a technical description of the data. As also described in more detail in the technical whit-paper, the data is provided as ROS-bags and in addition as YAML-files. We provide a ROS2 package including the message definitions for an easy use of the bag-files; it is provided on Github at

License Information

The data will be released under a Creative Commons Attribution-NonCommercial (CC BY-NC) license as soon as a related academic paper is published. The data is currently not yet released for free use. In case you found the URL/data by coincidence and you are interested in using it, please contact Andreas Birk ( You can also simply regularly re-visit the web-page, the data will be as mentioned released once a related academic paper is published and this section will be accordingly updated.