Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022

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Frequently anticipated questions:


What does this data set describe?

Title:
Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022
Abstract:
A total of 118,965 underwater images were collected at Big Pine Ledge, Florida, in July 2022, using the novel SfM (Structure-from-Motion) Quantitative Underwater Imaging Device with 5 cameras (SQUID-5) system. The SQUID-5 is a towed surface vehicle with five downward-looking underwater cameras developed by the U.S. Geological Survey (USGS), and records images in the Tagged Image File Format (.tif) to maintain the highest resolution and bit depth. Each image includes imagery header metadata (including, but not limited to: Global navigation satellite system (GNSS) date, time, latitude, longitude, and altitude of the GNSS antenna mounted on the vehicle, copyright, and keywords).
Supplemental_Information:
Each data collection is recorded in the USGS Coastal and Marine Hazards Resources Program (CMHRP) Coastal and Marine Geoscience Data System (CMGDS) field activity database and is assigned a Field Activity Number (FAN). 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=2022-314-FA This data collection is published under the SQUID-5 data collection platform (DCP) within the RSCC simple data distribution service. This data service is structured in a folder (directory) hierarchy with subfolders corresponding to individual DCPs or groups of DCPs, which in turn contain folders with products grouped by collection effort. For more information on the RSCC simple data distribution service, refer to Ritchie and others (2023), https://doi.org/10.5066/P9M3NYWI. For more information about the SQUID-5 DCP, refer to Kranenburg and others (2023), https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/.
  1. How might this data set be cited?
    Kranenburg, Christine J., Zawada, David G., Hatcher, Gerald A., Warrick, Jonathan A., and Yates, Kimberly K., 20231221, Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022: data service DOI:10.5066/P9M3NYWI, U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center, St. Petersburg, Florida.

    Online Links:

    Other_Citation_Details:
    Suggested Citation: Kranenburg, C.J., Zawada, D.G., Hatcher, G.A., Warrick, J.A., and Yates, K.K., 2023, Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022, in Remote Sensing Coastal Change Simple Data Distribution Service: U.S. Geological Survey data service, accessed [MMMM d, YYYY], at https://doi.org/10.5066/P9M3NYWI. [Data directly accessible at https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/FL_2022_BigPineLedge/]
    This is part of the following larger work.

    Ritchie, Andrew C., Triezenberg, Peter J., Warrick, Jonathan A., Hatcher, Gerald A., and Buscombe, Daniel D., 20230221, Remote Sensing Coastal Change Simple Data Distribution Service: data service DOI:10.5066/P9M3NYWI, U.S. Geological Survey - Pacific Coastal and Marine Science Center, Santa Cruz, California.

    Online Links:

  2. What geographic area does the data set cover?
    West_Bounding_Coordinate: -81.38620083
    East_Bounding_Coordinate: -81.37682258
    North_Bounding_Coordinate: 24.55405601
    South_Bounding_Coordinate: 24.55120289
  3. What does it look like?
  4. Does the data set describe conditions during a particular time period?
    Beginning_Date: 16-Jul-2022
    Ending_Date: 18-Jul-2022
    Currentness_Reference:
    ground condition
  5. What is the general form of this data set?
    Geospatial_Data_Presentation_Form: remote-sensing image, tabular digital data, vector digital data
  6. How does the data set represent geographic features?
    1. How are geographic features stored in the data set?
      This is a Raster data set. It contains the following raster data types:
      • Dimensions 2048 x 2448, type Pixel
    2. What coordinate system is used to represent geographic features?
      Horizontal positions are specified in geographic coordinates, that is, latitude and longitude. Latitudes are given to the nearest 0.000000001. Longitudes are given to the nearest 0.000000001. Latitude and longitude values are specified in Decimal degrees. The horizontal datum used is North American Datum of 1983 (2011).
      The ellipsoid used is GRS 1980.
      The semi-major axis of the ellipsoid used is 6378137.000000.
      The flattening of the ellipsoid used is 1/298.257222101.
      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
  7. How does the data set describe geographic features?
    FL_2022_BigPineLedge_Image_Locations.txt
    The comma-separated American Standard Code for Information Interchange (ASCII) text file, FL_2022_BigPineLedge_Image_Locations.txt, contains the post-processed towed surface vehicle navigation GNSS data (position of the towed surface vehicle at the moment of each image capture). (Source: U.S. Geological Survey)
    ImageName
    File names of individual images; see the Lineage section and IMAGE & POSITION ACQUISITION Process_Description for file naming convention details. (Source: U.S. Geological Survey)
    Range of values
    Minimum:CAM13-20220716162903_003-1.tif
    Maximum:CAM82-20220718160733_010-466.tif
    Latitude
    Latitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). (Source: U.S. Geological Survey)
    Range of values
    Minimum:24.55120289
    Maximum:24.55405601
    Units:decimal degrees
    Longitude
    Longitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). (Source: U.S. Geological Survey)
    Range of values
    Minimum:-81.38620083
    Maximum:-81.37682258
    Units:decimal degrees
    H-Ell (m)
    Altitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in meters from the NAD83 ellipsoid. (Source: U.S. Geological Survey)
    Range of values
    Minimum:-22.389
    Maximum:-20.945
    Units:meters
    Entity_and_Attribute_Overview:
    Individual underwater images are available in TIFF format. See the 'IMAGE & POSITION ACQUISITION' Process_Step for more information on file naming convention.
    Entity_and_Attribute_Detail_Citation:
    The entity and attribute information were generated by the individual and/or agency identified as the originator of the dataset. Please review the rest of the metadata record for additional details and information.

Who produced the data set?

  1. Who are the originators of the data set? (may include formal authors, digital compilers, and editors)
    • Christine J. Kranenburg
    • David G. Zawada
    • Gerald A. Hatcher
    • Jonathan A. Warrick
    • Kimberly K. Yates
  2. Who also contributed to the data set?
    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, National Oceanic and Atmospheric Administration (NOAA) Florida Keys National Marine Sanctuary, for coordination efforts.
  3. To whom should users address questions about the data?
    U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
    Attn: SPCMSC Data Management Group
    600 4th St South
    St. Petersburg, FL

    727-502-8000 (voice)
    gs-g-spcmsc_data_inquiries@usgs.gov

Why was the data set created?

The underwater images and associated location data were collected to provide high-resolution elevation data and precisely co-registered, full-color orthoimagery basemaps 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.

How was the data set created?

  1. From what previous works were the data drawn?
  2. How were the data generated, processed, and modified?
    Date: 18-Jul-2022 (process 1 of 4)
    IMAGE & POSITION 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 research vessel (R/V) Sallenger during USGS field activity 2022-314-FA. The image-collection frequency was 1 hertz (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 and conform to the following naming convention: CAM##-YYYYMMDDhhmmss_fff-n[nnn].tif, where ## comprise the last 2 digits of the serial number of the camera that captured the image, YYYYMMDD represents the year (YYYY), month (MM) and day (DD) of capture; hhmmss_fff is the time of capture as hours (hh), minutes (mm), seconds(ss) and fractional seconds (fff) in Universal Coordinated Time (UTC) and n[nnn] is a sequence number (image counter) which is reset at the beginning of each survey line. 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. Person who carried out this activity:
    David G. Zawada
    U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
    Research Oceanographer
    600 4th St. South
    St. Petersburg, FL
    USA

    727-502-8132 (voice)
    727-502-8181 (FAX)
    dzawada@usgs.gov
    Date: 23-Feb-2023 (process 2 of 4)
    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 kilometers (km) from the survey site, in NovAtel's GrafNav software to produce 10-Hz SQUID-5 trajectories. The SQUID-5 trajectories, in combination with precisely recorded image capture event times, were used to generate SQUID-5 GNSS antenna positions at the moment of each image capture and can be found in the accompanying text file (FL_2022_BigPineLedge_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. The following values for each camera were calculated for x, y, and z (in meters). Camera 13, 0.033 m(x), 0.036 m(y), 0.739 m(z); Camera 01, -0.32 m(x), -0.205 m(y), 0.823 m(z); Camera 39, 0.17 m(x), -0.280 m(y), 0.838 m(z); Camera 75, 0.047 m(x), 0.396 m(y), 0.698 m(z); Camera 82, -0.11 m(x), -0.69 m(y), 0.675 m(z). The methodology by which the original lever arm measurements were determined is described in Hatcher and others (2020). Those values were then refined during the SfM process. For more information about quality assurance/quality control (QA/QC) procedures completed for this process step, refer to the SQUID-5 DCP metadata record associated with this collection effort (Kranenburg and others, 2023). Person who carried out this activity:
    Christine J. Kranenburg
    U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
    Cartographer
    600 4th Street South
    St. Petersburg, FL
    USA

    727-502-8000 (voice)
    ckranenburg@usgs.gov
    Date: 01-May-2023 (process 3 of 4)
    IMAGERY HEADERS Georeferencing, copyright, and other relevant information were added to the imagery headers of each image using Phil Harvey's ExifTool. To extract the information from the image headers using ExifTool, the following command can be used (tested with ExifTool version 11.88): exiftool -n -csv *.tif > allheaders.csv The -csv flag writes the information out in a comma-delimited format. The -n option formats the latitude and longitude as signed decimal degrees. For the exact scripts used to populate the imagery headers in this process step, refer to the SQUID-5 DCP metadata record associated with this collection effort (Kranenburg and others, 2023). Person who carried out this activity:
    Christine J. Kranenburg
    U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
    Cartographer
    600 4th Street South
    St. Petersburg, FL
    USA

    727-502-8000 (voice)
    ckranenburg@usgs.gov
    Date: 19-Dec-2023 (process 4 of 4)
    KMZ CREATION In order to provide a visual map of the survey extent, image capture locations and to aid in completing the geospatial information in the collection-level metadata, a Keyhole Markup Language Zipped file (.kmz) is created from the image positions text file for each collection using Global Mapper. Person who carried out this activity:
    Christine J. Kranenburg
    U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
    Cartographer
    600 4th Street South
    St. Petersburg, FL
    USA

    727-502-8000 (voice)
    ckranenburg@usgs.gov
  3. What similar or related data should the user be aware of?
    Kranenburg, Christine J., Hatcher, Gerald A., Warrick, Jonathan A., Zawada, David G., and Yates, Kimberly K., 20231130, SfM Quantitative Underwater Imaging Device with 5 cameras (SQUID-5) – Field data from periodic surveys of the Florida Keys and other select shallow water environments: data service DOI:10.5066/P9M3NYWI, U.S. Geological Survey – St. Petersburg Coastal and Marine Science Center, St. Petersburg, Florida.

    Online Links:

    Hatcher, Gerald A., Warrick, Jonathan A., Kranenburg, Christine J., and Ritchie, Andrew C., 20230726, Accurate Maps of Reef-scale Bathymetry with Synchronized Underwater Cameras and GNSS: Remote Sensing 15(15), 3727.

    Online Links:

    Hatcher, Gerald A., Warrick, Jonathan A., Ritchie, Andrew C., Dailey, Evan T., Zawada, David G., Kranenburg, Christine, and Yates, Kimberly K., 20200626, Accurate Bathymetric Maps From Underwater Digital Imagery Without Ground Control: Frontiers in Marine Science Volume 7, Article 525.

    Online Links:


How reliable are the data; what problems remain in the data set?

  1. How well have the observations been checked?
    The accuracy of the position data is based on the accuracy and precision of the GNSS equipment, the accuracy and precision of the camera timing, number and length of baselines, and environmental conditions at the time of collection. Note that the accuracy of the positions in the imagery headers are GNSS antenna positions and are limited to six decimal places, whereas the positions in the external navigation file are accurate to ten decimal places and are therefore highly recommended for use in SfM processing to produce the highest quality derived products. These data represent raw imagery, as collected, and subsequently used in SfM photogrammetric processing workflows. The user may find it useful and/or necessary to color correct these raw data, as appropriate for their application.
  2. How accurate are the geographic locations?
    Horizontal positions are provided in the accompanying navigation file (FL_2022_BigPineLedge_Image_Locations.txt) and have an estimated 2-sigma horizontal accuracy of 10 centimeters (cm). The accuracy of the positions in the imagery headers are reduced due to field size limitations for storing latitude/longitude.
  3. How accurate are the heights or depths?
    Vertical positions are provided in the accompanying navigation file (FL_2022_BigPineLedge_Image_Locations.txt) and have an estimated 2-sigma vertical accuracy of 15 cm.
  4. Where are the gaps in the data? What is missing?
    One of the five SQUID-5 cameras (CAM01) malfunctioned at the beginning of the survey, resulting in no CAM01 images on day 1 (2022-07-16) of collection and approximately 20 percent of the expected amount of images on day 2 (2022-07-17). The system was restored to full functionality for the third and final day of the survey. Hatcher and others (2023) demonstrated that the SQUID-5 has enough redundancy to build high quality high-resolution models with as few as 3 cameras operating.
  5. How consistent are the relationships among the observations, including topology?
    RGB (red, green, blue) values are 8-bits per band, generally not saturated or underexposed. Occasionally, usually at the start of a new survey day, some imagery may be over or underexposed due to inappropriate initial operator-set gain settings. Appropriate gain settings are usually achieved by the 2nd or 3rd survey line. GNSS values were checked for consistency and outliers and fall within expected ranges.

How can someone get a copy of the data set?

Are there legal restrictions on access or use of the data?
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.
  1. Who distributes the data set? (Distributor 1 of 1)
    U.S. Geological Survey - CMGDS
    600 4th St South
    St. Petersburg, FL

    727-502-8000 (voice)
    gs-g-spcmsc_data_inquiries@usgs.gov
  2. What's the catalog number I need to order this data set? CAM##-YYYYMMDDhhmmss_fff-n[nnn].tif, FL_2022_BigPineLedge_Image_Locations.txt, FL_2022_BigPineLedge_Image_Locations.kmz
  3. What legal disclaimers am I supposed to read?
    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.
  4. How can I download or order the data?

Who wrote the metadata?

Dates:
Last modified: 08-Nov-2023
Metadata author:
Christine J. Kranenburg
U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center
600 4th St South
St. Petersburg, FL

727-502-8000 (voice)
ckranenburg@usgs.gov
Metadata standard:
Content Standard for Digital Geospatial Metadata (FGDC-STD-001-1998)

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