Metadata: Identification_Information: Citation: Citation_Information: Originator: Gerald A. Hatcher Originator: Christine J. Kranenburg Originator: Jonathan A. Warrick Publication_Date: 20221005 Title: Overlapping seabed images collected at Looe Key, Florida, 2021 Geospatial_Data_Presentation_Form: TIFF Series_Information: Series_Name: data release Issue_Identification: DOI:10.5066/P9WSF09G Publication_Information: Publication_Place: Santa Cruz, California Publisher: U.S. Geological Survey - Pacific Coastal and Marine Science Center Online_Linkage: https://doi.org/10.5066/P9WSF09G Larger_Work_Citation: Citation_Information: Originator: Gerald A. Hatcher Originator: Christine J. Kranenburg Originator: Jonathan A. Warrick Originator: Stephen T. Bosse Originator: David G. Zawada Originator: Kimberly K. Yates Originator: Selena A. Johnson Publication_Date: 2022 Title: Overlapping seabed images and location data acquired using the SQUID-5 system at Looe Key, Florida, in July 2021, with derived point cloud, digital elevation model and orthomosaic of submerged topography Series_Information: Series_Name: data release Issue_Identification: DOI:10.5066/P9WSF09G Publication_Information: Publication_Place: Santa Cruz, California Publisher: U.S. Geological Survey - Pacific Coastal and Marine Science Center Online_Linkage: https://doi.org/10.5066/P9WSF09G Description: Abstract: A total of 94,567 underwater images were collected at Looe Key, Florida, in July 2021, using the SQUID5 Structure-from-Motion (SfM) system, a towed-surface vehicle with five downward-looking underwater cameras developed by the U.S. Geological Survey. The images are organized in zipped files grouped by survey line. The SQUID-5 records images in the Tagged Image File Format format to maintain the highest resolution and bit depth. Each image includes Exchangeable Image File (EXIF) metadata, containing Global navigation satellite system (GNSS) date, time, latitude, longitude, and altitude of the GNSS antenna mounted on the towed surface vehicle, copyright, keywords, and other fields. Purpose: The underwater images and associated location data were collected to provide high-resolution elevation data and precisely co-registered, full-color orthomosaic base maps for use in environmental assessment and monitoring of the coral reef and surrounding seafloor habitat. Additionally, the data were collected to evaluate their potential to improve USGS scientific efforts including seafloor elevation and stability modeling, and small-scale hydrodynamic flow modeling. Supplemental_Information: Additional information about the field activities from which these data were derived is available online at: https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-633-FA and https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-301-FA Any use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U.S. Government. Time_Period_of_Content: Time_Period_Information: Range_of_Dates/Times: Beginning_Date: 20210715 Ending_Date: 20210719 Currentness_Reference: ground condition Status: Progress: Complete Maintenance_and_Update_Frequency: None planned Spatial_Domain: Bounding_Coordinates: West_Bounding_Coordinate: -81.4089893 East_Bounding_Coordinate: -81.4019610 North_Bounding_Coordinate: 24.5473158 South_Bounding_Coordinate: 24.5445037 Keywords: Theme: Theme_Keyword_Thesaurus: USGS Metadata Identifier Theme_Keyword: USGS:5feb3542-fa76-4c14-ba15-4f35cf8929ad Theme: Theme_Keyword_Thesaurus: Marine Realms Information Bank (MRIB) keywords Theme_Keyword: seabed Theme_Keyword: coral reefs Theme: Theme_Keyword_Thesaurus: Data Categories for Marine Planning Theme_Keyword: Physical Habitats and Geomorphology Theme: Theme_Keyword_Thesaurus: ISO 19115 Topic Category Theme_Keyword: oceans Theme_Keyword: elevation Theme: Theme_Keyword_Thesaurus: USGS Thesaurus Theme_Keyword: reef ecosystems Theme_Keyword: geospatial datasets Theme_Keyword: remote sensing Theme_Keyword: visible light imaging Theme_Keyword: structure from motion Theme: Theme_Keyword_Thesaurus: None Theme_Keyword: U.S. Geological Survey Theme_Keyword: USGS Theme_Keyword: Coastal and Marine Hazards and Resources Program Theme_Keyword: CMHRP Theme_Keyword: Pacific Coastal and Marine Science Center Theme_Keyword: PCMSC Theme_Keyword: St. Petersburg Coastal and Marine Science Center Theme_Keyword: SPCMSC Place: Place_Keyword_Thesaurus: Geographic Names Information System (GNIS) Place_Keyword: Looe Key Place_Keyword: State of Florida Access_Constraints: None Use_Constraints: USGS-authored or produced data and information are in the public domain from the U.S. Government and are freely redistributable with proper metadata and source attribution. Please recognize and acknowledge the U.S. Geological Survey as the originator of the dataset and in products derived from these data. This information is not intended for navigation purposes. Point_of_Contact: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey, Pacific Coastal and Marine Science Center Contact_Person: PCMSC Science Data Coordinator Contact_Address: Address_Type: mailing and physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 831-460-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Browse_Graphic: Browse_Graphic_File_Name: CAM13-20210717163118_000-330-fullrez-dh.jpg Browse_Graphic_File_Description: Example of underwater image from one of the cameras. Browse_Graphic_File_Type: JPG Data_Set_Credit: Data collection was funded by the U.S. Geological Survey Pacific Coastal Marine Science Center and the U.S. Geological Survey Saint Petersburg Coastal and Marine Science Center. The authors would like to thank Dr. Jason Spadaro, Assistant Professor, Marine Science and Technology, College of the Florida Keys for installing calibration targets on the reef, Lisa Symons, Regional Response Coordinator, and the staff of the Eastern Region, Office of National Marine Sanctuaries, NOAA Florida Keys National Marine Sanctuary, for coordination efforts. Native_Data_Set_Environment: Microsoft Windows 10 Cross_Reference: Citation_Information: Originator: Gerald A. Hatcher Originator: Jonathan A. Warrick Originator: Andrew C. Ritchie Originator: Evan T. Dailey Originator: David G. Zawada Originator: Christine Kranenburg Originator: Kimberly K. Yates Publication_Date: 2020 Title: Accurate bathymetric maps from underwater digital imagery without ground control Other_Citation_Details: Hatcher, G.A., Warrick, J.A., Ritchie, A.C., Dailey, E.T., Zawada, D.G., Kranenburg, C., and Yates, K.K., 2020, Accurate bathymetric maps from underwater digital imagery without ground control: Frontiers in Marine Science, v. 7, art. 525, doi:10.3389/fmars.2020.00525 Online_Linkage: https://doi.org/10.3389/fmars.2020.00525 Data_Quality_Information: Attribute_Accuracy: Attribute_Accuracy_Report: The accuracy of the position data used for SfM data processing is based on the accuracy of the post-processed GNSS navigation data, which produced a 10-Hz vehicle trajectory with an estimated 2-sigma accuracy of 10 cm horizontal and 15 cm vertical. Note that the accuracy of the positions in the image EXIF headers are GNSS antenna positions and are limited to six decimal places, whereas the positions in the accompanying navigation file (SQUID5_LKR_2021_Image_Locations.txt) are accurate to ten decimal places and are therefore highly recommended for use in SfM processing to produce the highest quality derived products. Logical_Consistency_Report: All data fall within expected ranges. Completeness_Report: One of the five SQUID-5 cameras suffered a focusing problem from the beginning of the survey. The images from that camera (CAM30) were discarded and all derived products were constructed using images from the remaining 4 cameras. Users are advised to read the rest of the metadata record carefully for additional details. Positional_Accuracy: Horizontal_Positional_Accuracy: Horizontal_Positional_Accuracy_Report: Positions provided in the accompanying navigation file (SQUID5_LKR_2021_Image_Locations.txt) have an estimated 2-sigma horizontal accuracy of 10 cm. The accuracy of the positions in the image EXIF headers are reduced due to field size limitations for storing latitude/longitude. Vertical_Positional_Accuracy: Vertical_Positional_Accuracy_Report: Positions provided in the accompanying navigation file (SQUID5_LKR_2021_Image_Locations.txt) have an estimated 2-sigma vertical accuracy of 15 cm. Lineage: Process_Step: Process_Description: IMAGE ACQUISITION Images were collected in tiff (.tif) format in synchronized quintets by the SQUID-5 system while towed at a speed of approximately 3 knots behind the USGS vessel R/V Sallenger during USGS field activity 2021-633-FA, also known as 2021-301-FA. The image-collection frequency was 1 Hz, and GNSS positions were recorded at 10 Hz. Image-gain settings were adjusted as needed depending on water depth and lighting conditions. Aperture and shutter speed were consistent for each group of images at a study site. Image files were named programmatically with the last two digits of the camera's serial number, a 14-digit UTC datetime value formatted as yyyymmddhhmmss, thousandths of seconds, and the sequential image number for that camera. For example, 'CAM13-20210717163118_000-330.tif' indicates camera 13, July 17, 2021, 16:31:18.000 (UTC), collection event number 330 of the survey line. Process_Date: 20210719 Source_Produced_Citation_Abbreviation: raw images Process_Contact: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey Contact_Person: Gerald Hatcher Contact_Position: Ocean Engineer Contact_Address: Address_Type: Mailing and Physical Address: 2831 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 831-460-7524 Contact_Facsimile_Telephone: 831-421-9209 Contact_Electronic_Mail_Address: ghatcher@usgs.gov Process_Step: Process_Description: SQUID-5 NAVIGATION PROCESSING Raw GNSS data received by the antenna mounted atop the SQUID-5 were recorded at 10 Hz by a dual-frequency survey-grade GNSS receiver, which was post-processed and differentially corrected against a local base station located 14 km from the survey site, in Novatel's GrafNav software (v. 8.80.2720; https://novatel.com/products/waypoint-post-processing-software/grafnav) to produce 10-Hz SQUID-5 trajectories. The SQUID-5 trajectories, in combination with precisely recorded image capture event times, are used to generate SQUID-5 GNSS antenna positions at the moment of each image capture in the accompanying navigation file (SQUID5_LKR_2021_Image_Locations.txt). The positions in the SQUID-5 navigation file represent the position of the SQUID-5 GNSS antenna reference point (ARP), not the position of the cameras or features imaged. To determine actual image positions, photogrammetric software such as Agisoft Metashape can be used to apply the lever arm offsets (in the camera frame of reference) from the GNSS antenna reference point to the camera lens. Using this method the following values for each camera were calculated for x,y,z in units of meters. Camera 13, 0.028 m(x), 0.016 m(y), 0.822 m(z); Camera 39, 0.274 m(x), -0.106 m(y), 0.912 m(z); Camera 75, 0.128 m(x), 0.562 m(y), 0.741 m(z); Camera 82, -0.015 m(x), -0.570 m(y), 0.765 m(z). Process_Date: 20211110 Process_Contact: Contact_Information: Contact_Person_Primary: Contact_Person: Christine J. Kranenburg Contact_Organization: U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center Contact_Position: Cartographer Contact_Address: Address_Type: Physical and Mailing Address: 600 4th Street South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Country: USA Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: ckranenburg@usgs.gov Process_Step: Process_Description: IMAGE EXIF SORTING Georeferencing, copyright, and other relevant information were added to the EXIF header of each image using Phil Harvey's ExifTool (v. 11.88; https://exiftool.org/). To extract the information from the image headers using ExifTool, the following command can be used (tested with ExifTool version 11.88): exiftool -csv -f -filename -GPSDateStamp -GPSTimeStamp -GPSLongitude -GPSLatitude -GPSAltitude -n -Artist -Credit -comment -keywords -Caption -Copyright -CopyrightNotice -Caption-Abstract -ImageDescription directoryname/*.tif > out.csv The -csv flag writes the information out in a comma-delimited format. The -n option formats the latitude, longitude, and altitude as signed decimal values. Note that the altitude is referenced to the NAD83 (2011) ellipsoid and are all negative for this dataset. CAUTION: Without the -n option, the command may return the absolute value of the altitude. Images are sorted by survey line number and stored within zip files to limit the file sizes. Process_Date: 20220729 Process_Contact: Contact_Information: Contact_Person_Primary: Contact_Person: Christine J. Kranenburg Contact_Organization: U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center Contact_Position: Cartographer Contact_Address: Address_Type: Physical and Mailing Address: 600 4th Street South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Country: USA Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: ckranenburg@usgs.gov Spatial_Data_Organization_Information: Direct_Spatial_Reference_Method: Raster Raster_Object_Information: Raster_Object_Type: Pixel Spatial_Reference_Information: Horizontal_Coordinate_System_Definition: Geographic: Latitude_Resolution: 0.000001 Longitude_Resolution: 0.000001 Geographic_Coordinate_Units: Decimal degrees Geodetic_Model: Horizontal_Datum_Name: North American Datum of 1983 (2011) Ellipsoid_Name: GRS 1980 Semi-major_Axis: 6378137.000000 Denominator_of_Flattening_Ratio: 298.257222101 Vertical_Coordinate_System_Definition: Altitude_System_Definition: Altitude_Datum_Name: North American Datum 1983 (2011) Altitude_Resolution: 0.001 Altitude_Distance_Units: meters Altitude_Encoding_Method: Attribute values Entity_and_Attribute_Information: Overview_Description: Entity_and_Attribute_Overview: SQUID-5 Imagery (Line##.zip) - Individual images are available in TIFF format and contained within zip files organized by survey lines (##). See Process_Step/IMAGE ACQUISITION for naming convention of individual images. Entity_and_Attribute_Detail_Citation: U.S. Geological Survey Distribution_Information: Distributor: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey - CMGDS Contact_Address: Address_Type: Mailing and Physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 1-831-427-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Resource_Description: These data are available in TIFF format contained in zip files organized and named by survey line as Line##.zip, where ## represents a number in the range 01-76. Survey lines 44, 47, 71 and 72 were split into 2 and each half was designated Line##a.zip and Line##b.zip to keep download file sizes under 20 GB. The image files are named with the following convention: camera serial number, 14-digit UTC datetime value, thousandths of seconds, and sequential image number for specified camera. The TIFF image files contain EXIF metadata, including GNSS time and position data, and are included as an open-source format for preservation purposes. Distribution_Liability: Unless otherwise stated, all data, metadata and related materials are considered to satisfy the quality standards relative to the purpose for which the data were collected. Although these data and associated metadata have been reviewed for accuracy and completeness and approved for release by the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data on any other system or for general or scientific purposes, nor shall the act of distribution constitute any such warranty. Standard_Order_Process: Digital_Form: Digital_Transfer_Information: Format_Name: TIFF Format_Information_Content: The .zip files contains images in tagged image file format (.tif) File_Decompression_Technique: PKZIP Transfer_Size: 1074881 Digital_Transfer_Option: Online_Option: Computer_Contact_Information: Network_Address: Network_Resource_Name: https://doi.org/10.5066/P9WSF09G Access_Instructions: Image data can be downloaded per survey line using the Network_Resource_Name link. File names correspond to the tracklines shown in the Overview Map on the landing page of the data release and are named according to the following convention: Line##.zip, where ## is a sequential trackline number indicating the order in which lines were collected. ## is a number in the range 01-76. Fees: none Metadata_Reference_Information: Metadata_Date: 20221005 Metadata_Contact: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey, Pacific Coastal and Marine Science Center Contact_Person: PCMSC Science Data Coordinator Contact_Address: Address_Type: mailing and physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 831-460-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Metadata_Standard_Name: Content Standard for Digital Geospatial Metadata Metadata_Standard_Version: FGDC-STD-001-1998