Overlapping seabed images and location data acquired using the SQUID-5 system at Looe Key, Florida, in July 2021, with structure-from-motion derived point cloud, digital elevation model and orthomosaic of submerged topography
By Gerry A. Hatcher, Christine J. Kranenburg, Jonathan A. Warrick, Stephen T. Bosse, David G. Zawada, Kimberly K. Yates, and Selena A. Johnson
https://doi.org/10.5066/P9WSF09G
Dates
Published: Oct. 5, 2022
Summary
Underwater images were collected using a towed-surface vehicle with multiple downward-looking underwater cameras developed by the U.S. Geological Survey (USGS). The system is named the Structure-from-Motion (SfM) Quantitative Underwater Imaging Device with Five Cameras (SQUID-5). The raw images and associated navigation data were collected at Looe Key, a coral reef located within the Florida Keys National Marine Sanctuary approximately eleven kilometers south of Ramrod Key, Florida. SQUID-5 was towed through the survey area using the 25' R/V Sallenger USGS support vessel during the data collection from July 15-July 19, 2021. The images and position data acquired by the SQUID-5 system were then processed using SfM photogrammetry techniques to generate the point cloud, digital elevation model, and full-color orthomosaic data products presented here. The goal of this work was to generate very high (millimeter scale) resolution maps and precisely co-registered, full-color, orthomosaic imagery of the seabed at Looe Key with accurate geospatial location to support ongoing USGS research, including seafloor elevation and stability modeling, and small-scale hydrodynamic flow modeling at millimeter scales over short time frames (event-driven and storms). These data will also enable other researchers and stakeholders to co-register and validate their imagery and ecological data in the area.
Imagery Data
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Orthoimagery of Looe Key, Florida, 2021
A seabed orthoimage was developed from underwater images collected at Looe Key, Florida, in July 2021 using the SQUID-5 camera system. The underwater images were processed using Structure-from-Motion (SfM) photogrammetry techniques. The orthoimage covers a rectangular area of seafloor approximately 720x100 meters (0.072 square kilometers) in size. It was created using image-mosaicking methods and saved as a tiled GeoTIFF raster at 5-millimeter resolution.
Data Files
SQUID5_LKR_2021_Orthomosaic_5mm_A_1.zip - 2.0 GB - MD5:6fe69306ae9036ad52850d2b5b96566f
SQUID5_LKR_2021_Orthomosaic_5mm_B_0.zip - 181.0 MB - MD5:54f9e271bf720ef9e7fff55da8567b55
SQUID5_LKR_2021_Orthomosaic_5mm_B_1.zip - 2.4 GB - MD5:ba6ac0c3c6dcd527bcbbf18f86bb5617
SQUID5_LKR_2021_Orthomosaic_5mm_C_0.zip - 1.3 GB - MD5:ce907dfd59088330debe2a8e53374906
SQUID5_LKR_2021_Orthomosaic_5mm_C_1.zip - 1.3 GB - MD5:a22721d1fb512edebaac849ebc5686b1
SQUID5_LKR_2021_Orthomosaic_5mm_D_0.zip - 2.4 GB - MD5:45aa3454cc5c4cc168d9fe7f69e5d0c1
SQUID5_LKR_2021_Orthomosaic_5mm_D_1.zip - 220.6 MB - MD5:ad353a6ad48de72e5c3396bac5526033
SQUID5_LKR_2021_Orthomosaic_5mm_E_0.zip - 1.7 GB - MD5:ff5d1b699a5606af778243fa421f2d2d
Metadata Files
SQUID5_LKR_2021_Ortho_5mm_metadata.xml - 36.1 KB
SQUID5_LKR_2021_Ortho_5mm_metadata.txt - 35.4 KB
Support Files
Full-resolution sample view of larger orthomosaic image. -
Overlapping seabed images collected at Looe Key, Florida, 2021
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.
Data Files
Line01.zip - 8.2 GB - MD5:110ddbbd98e06d8db2b7c9f6d17164d2
Line02.zip - 7.7 GB - MD5:9ed2c37082abf0a8b313314eaba0cffc
Line03.zip - 15.9 GB - MD5:8d64afebb5ad647d5405a619867c8eb7
Line04.zip - 10.4 GB - MD5:7d17c0e9ef50233657f91cb9bb94d32d
Line05.zip - 15.5 GB - MD5:e5002e490e1025ed0e45c02ac62feb84
Line06.zip - 10.1 GB - MD5:2804b879919fd232c087763971d5fd40
Line07.zip - 12.8 GB - MD5:91d2a9d1ecd0180bc3cac25adc32067f
Line08.zip - 10.3 GB - MD5:4f87b43fc2e6f3ce26c86e691f64e8a7
Line09.zip - 14.6 GB - MD5:8a5feede9655204e4f5ecd93cf515955
Line10.zip - 9.6 GB - MD5:306f8d6485965a5c307c338e46051edb
Line11.zip - 11.4 GB - MD5:1406a0d574fadd13d3dd424bff4e7a4e
Line12.zip - 6.9 GB - MD5:c36a589afa17bd5fa72d7080b44fa80c
Line13.zip - 9.2 GB - MD5:4a98d083e0a9fd6e1144df469644f2ac
Line14.zip - 10.3 GB - MD5:299968add59fa099875588b4af2b7db9
Line27.zip - 12.7 GB - MD5:ea257fd1725fad977b570cd42f85fcd5
Line28.zip - 12.7 GB - MD5:9e4be22a422a98ab2ec6be9bf4ef110c
Line29.zip - 12.3 GB - MD5:06364832f309ff24fe0698aa92385796
Line30.zip - 14.7 GB - MD5:00a8353d51ac7a91acbbe0c8a2db90c5
Line31.zip - 12.1 GB - MD5:bd313986b90e4cff1833188b754712bc
Line32.zip - 13.0 GB - MD5:7c57477992b2eb9657e59080a2291f01
Line33.zip - 15.4 GB - MD5:c7fad6323d9060c517aaf7ad9aadff8e
Line34.zip - 4.0 GB - MD5:1deb67e977343d92d2a0f48f855ed58c
Line35.zip - 11.0 GB - MD5:15ea0e4914a7355f8b4693c4a47d4475
Line36.zip - 11.1 GB - MD5:8371654b2f8b2497f89a105561d45d74
Line37.zip - 10.3 GB - MD5:675df438ef977efe37928de6bff154f4
Line38.zip - 14.1 GB - MD5:e371536c7160afe867c5494911df771f
Line39.zip - 12.3 GB - MD5:168660313f269aa16577d0ee546de27a
Line40.zip - 15.5 GB - MD5:0b605346c1493a48c377c425c98b5a09
Line41.zip - 6.8 GB - MD5:659fb558b33c8df24bc435283cd53905
Line42.zip - 12.7 GB - MD5:5ecfc0ebab26860f3cde868022de24e2
Line43.zip - 11.7 GB - MD5:b9fcc93ee4b9a3a133f99bd7c8b10195
Line44a.zip - 18.7 GB - MD5:1c3ebf565956f0e7430d3bc60b5cafdd
Line44b.zip - 14.2 GB - MD5:554496a2e0292a1206038ac28144dbce
Line45.zip - 15.0 GB - MD5:5a3b180b03731e4b312d5c80ab937082
Line46.zip - 10.7 GB - MD5:ca13c1cfa55acc0ae1b59d2d14e358e1
Line47a.zip - 13.4 GB - MD5:48272749f4780b5760d3aa4c72b3b402
Line47b.zip - 7.8 GB - MD5:835dd92b49ad24b3886fe9984226cce5
Line62.zip - 16.8 GB - MD5:3c9821da635b25d394fd2de838bc2e34
Line63.zip - 13.3 GB - MD5:c0642efb02bdb97ac78e0a34eb0d6383
Line64.zip - 16.3 GB - MD5:34392cf1885cb2c4197cbd170bd8324b
Line65.zip - 11.0 GB - MD5:c374405c7579103a26001f62888a36e9
Line66.zip - 17.6 GB - MD5:4604dab86e8e44745bc851639a45ee3c
Line67.zip - 6.4 GB - MD5:81d034499e24383dedb1a8cb3186115a
Line68.zip - 9.4 GB - MD5:7d176c2f5bb9efd65a4ea661f39d64c7
Line69.zip - 8.4 GB - MD5:b489bdc150957821e3ccf962cc7e0958
Line70.zip - 12.1 GB - MD5:81900633020fc304ff22b4106fd587ed
Line71a.zip - 12.7 GB - MD5:74a3a3390b5e9fbcb8e6bcf7787874ee
Line71b.zip - 14.9 GB - MD5:7078e5695098085c96aef5bfe0f895b0
Line72a.zip - 13.7 GB - MD5:95c71640a791f83cdc29d0217b427427
Line72b.zip - 14.7 GB - MD5:423c26e66838d49e0531ff8124302add
Line73.zip - 11.6 GB - MD5:5362b1ede9b7b797355a4c12c199b221
Line74.zip - 11.7 GB - MD5:f87e60b30f3c0c9cef15cce03d1c6896
Line75.zip - 13.0 GB - MD5:047d2e2d9b49b13e0281fa228d6a77c5
Line76.zip - 13.8 GB - MD5:f275074c5ea24f9a20bc30196f2b6e68
Metadata Files
SQUID5_LKR_2021_Raw_Imagery_metadata.xml - 20.0 KB
SQUID5_LKR_2021_Raw_Imagery_metadata.txt - 19.5 KB
Example underwater image from one of the cameras.
Location-Elevation Data
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Point cloud data of Looe Key, Florida, 2021
A three-dimensional point cloud (LAZ format) was developed from underwater images collected at Looe Key, Florida, in July 2021 using the SQUID-5 camera system and processed using Structure-from-Motion (SfM) photogrammetry techniques. Point cloud data include x,y,z positions, and RGB colors derived from the color-corrected imagery. LAS (and its compressed form, LAZ) is an open format developed for the efficient use of point cloud lidar data.
Data Files
SQUID5_LKR_2021_PointCloud_A_1.laz - 4.5 GB - MD5:c9c60f9a83a42749766037e09e34d057
SQUID5_LKR_2021_PointCloud_B_0.laz - 535.8 MB - MD5:c763647a1274fec024f97f96121dcd36
SQUID5_LKR_2021_PointCloud_B_1.laz - 5.9 GB - MD5:73c985244fec80223b07ca7b07da0f72
SQUID5_LKR_2021_PointCloud_C_0.laz - 3.6 GB - MD5:7dd9be62e2075044fc71735467f24f95
SQUID5_LKR_2021_PointCloud_C_1.laz - 2.9 GB - MD5:a1c64c4aff99403c03a81ea9d4baa826
SQUID5_LKR_2021_PointCloud_D_0.laz - 6.2 GB - MD5:1732a5b4ac891b18252023748c4507bd
SQUID5_LKR_2021_PointCloud_D_1.laz - 447.5 MB - MD5:c5266f38af4f9d4663ad64cb3159bad4
SQUID5_LKR_2021_PointCloud_E_0.laz - 3.4 GB - MD5:0a1fde88180594df4ae76615e83c436f
Metadata Files
SQUID5_LKR_2021_PointCloud_metadata.xml - 30.3 KB
SQUID5_LKR_2021_PointCloud_metadata.txt - 29.9 KB
Full-resolution sample view of larger point cloud data set. -
Digital elevation model (DEM) of Looe Key, Florida, 2021
A digital elevation model (DEM) was created from underwater images collected at Looe Key, Florida, in July 2021 using the SQUID-5 camera system. The underwater images were processed using Structure-from-Motion (SfM) photogrammetry techniques into a classified two-class ('unclassified' and 'low noise') 3D point cloud. The DEM was created in Metashape (ver. 1.6.6) from the point cloud, and includes points from both classes. The DEM covers a rectangular area of seafloor approximately 720x100 meters (0.072 square kilometers) in size and was saved as a tiled GeoTIFF raster at 1-centimeter resolution.
Data Files
SQUID5_LKR_2021_DEM_1cm-A-1.zip - 565.4 MB - MD5:8d9d7572761cf0e7b21148835174730e
SQUID5_LKR_2021_DEM_1cm-B-0.zip - 52.6 MB - MD5:35a43d375a7d18ec484f1dcd533a43bd
SQUID5_LKR_2021_DEM_1cm-B-1.zip - 682.7 MB - MD5:719a35ecf2f9594eeb5c500f9fe4539f
SQUID5_LKR_2021_DEM_1cm-C-0.zip - 360.6 MB - MD5:46efe59a0615bd0ea0f786d5046d0316
SQUID5_LKR_2021_DEM_1cm-C-1.zip - 360.6 MB - MD5:d3d2440cadbb1cf1b0ebd081689f626c
SQUID5_LKR_2021_DEM_1cm-D-0.zip - 686.2 MB - MD5:66779636fa37e2b07f69b47d57a6fc9e
SQUID5_LKR_2021_DEM_1cm-D-1.zip - 60.2 MB - MD5:8d932025dc9bbf66c1c67dcea41dd01b
SQUID5_LKR_2021_DEM_1cm-E-0.zip - 488.2 MB - MD5:a0fef152f3f7bbf7a79360e4019beba2
Metadata Files
SQUID5_LKR_2021_DEM_1cm_metadata.xml - 31.1 KB
SQUID5_LKR_2021_DEM_1cm_metadata.txt - 30.7 KB
Full-resolution sample view of the digital elevation model (DEM). -
GNSS locations of seabed images collected at Looe Key, Florida, 2021
The text file "SQUID5_LKR_2021_Image_Locations.txt" provides the GNSS antenna location for underwater images 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 GNSS antenna location for the time of each image capture is presented with greater precision than is stored in the individual image EXIF headers due to decimal place limitations of the EXIF format.
Data Files
SQUID5_LKR_2021_Image_Locations.txt - 6.2 MB - MD5:d4e2dd12e66d5d91a7e6865fac3bb076
Metadata Files
Suggested Citation
Hatcher, G.A., Kranenbug, C.J., Warrick, J.A., Bosse, S.T., Zawada, D.G., Yates, K.K., Johnson, S.A., 2022, Overlapping seabed images and location data acquired using the SQUID-5 system at Looe Key, Florida, in July 2021, with structure-from-motion derived point cloud, digital elevation model and orthomosaic of submerged topography: U.S. Geological Survey data release, http://doi.org/10.5066/P9WSF09G.
Overview Image
