Small Underwater Objects 3D Point Cloud (SOUP) Dataset

This repository provides a high-quality 3D point cloud dataset of underwater objects acquired using the BlueView BV5000 MK2-1350 mechanical scanning sonar (MSS). This dataset contains 3D point cloud data at various distances and poses, and features multiple labeled real-world underwater objects for object detection and recognition tasks.

Overview

The SUOP dataset is publicly available and contains 3D point cloud data of tires, dummies, drums, chairs, and nets collected in real marine environments. Each object includes a total of 300 data samples, with corresponding sonar metadata and 2D sonar images provided for each sample.

• Device: BlueView BV5000 MK2-1350
• Environment: Real ocean near Korea Maritime and Ocean University
• Depth: ~6 meters
• Maximum Distance: ~30 meters
• Format: .xyz, .son, .txt, .pgm, .ppm, .csv

📁 Dataset Structure

Tire/
├── Tire_3m/
│   ├── *.xyz   # 3D Point Cloud Data
│   ├── *.txt   # Sonar Setting information
│   └── *.son   # Raw sonar files
│   └── *.metadata
│         └──Tire ()
│            └──images_pgm
│            └──images_ppm
│            └──images_data
│            └──Tire ()_head.txt
│            └──Tire ()_pins.cvs
├── Tire_6m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
│   └── *.metadata
│         └──Tire ()
│            └──images_pgm
│            └──images_ppm
│            └──images_data
│            └──Tire ()_head.txt
│            └──Tire ()_pins.cvs
└── Tire_10m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
│   └── *.metadata
│         └──Tire ()
│            └──images_pgm
│            └──images_ppm
│            └──images_data
│            └──Tire ()_head.txt
│            └──Tire ()_pins.cvs
│
Dummy/
├── Dummy_3m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
│   └── *.metadata
│         └──Dummy ()
│            └──images_pgm
│            └──images_ppm
│            └──images_data
│            └──Dummy ()_head.txt
│            └──Dummy ()_pins.cvs
├── Dummy_6m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
└── Dummy_10m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
│
Drum/
├── Drum_3m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
├── Drum_6m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
└── Drum_10m/
    ├── *.xyz
    ├── *.txt
    └── *.son

Net/
├── Net_3m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
├── Net_6m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
└── Net_10m/
    ├── *.xyz
    ├── *.txt
    └── *.son

Chair/
├── Chair_3m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
├── Chair_6m/
│   ├── *.xyz
│   ├── *.txt
│   └── *.son
└── Chair_10m/
    ├── *.xyz
    ├── *.txt
    └── *.son