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. A detailed description can be found in the Open Access publication that is referenced below [1]. The data can be accessed and downloaded from https://robotics.constructor.university/DATA/BremenMSS/, which is a browsable web-directory. The whole data and documentation can also be downloaded as a single zip-file from https://robotics.constructor.university/DATA/BremenMSS.zip – please note that this is a large file with 5.5 GB.
The following white-paper provides a technical description of the data that complements [1]. As also described in more detail in the technical white-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; this package is provided on Github at https://github.com/constructor-robotics/datasetMessageDefinitions.git.
License Information
The data is released under a Creative Commons Attribution-NonCommercial (CC BY-NC) license with the obligation to cite the article below if you use the data in any form.
References
[1] T. Hansen, B. Belenis, M. B. Firvida, T. Creutz, and A. Birk, “Scanning Sonar Data from an Underwater Robot with Ground Truth Localization,” IEEE Access, vol. 12, pp. 129202-129211, 2024. https://doi.org/10.1109/ACCESS.2024.3420766 [Open Access]