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Greinert, Jens; Schoening, Timm; Köser, Kevin; Rothenbeck, Marcel (2017): Seafloor images and raw context data along AUV track SO239_201-1_AUV19 (Abyss_185) during SONNE cruise SO239. PANGAEA,, In supplement to: Schoening, Timm; Köser, Kevin; Greinert, Jens (2018): An acquisition, curation and management workflow for sustainable, terabyte-scale marine image analysis. Scientific Data, 5, 180181,

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The raw images (available on request) have been captured using a Canon 8-15mm fisheye lens and therefore they have a wide field of view, which results in a dark image boundary as the lights did not illuminate the outer sectors well. The images in this dataset have then been undistorted to virtual images that an ideal perspective camera with only 90 degrees horizontal field of view would have seen from the same position. To achieve this, the color of each pixel in the ideal image is obtained by
- computing the ray in space associated with this virtual pixel (using rectilinear un-projection)
- projecting this ray into the original fisheye image (using equidistant projection), yielding a sub-pixel position
- interpolating the colors of the neighboring pixels
Technically, the undistortion has been performed using the tool (at revision 418, and earlier, compatible revisions).
Manual image annotation is available here:
Related to:
Martínez Arbizu, Pedro; Haeckel, Matthias (2015): RV SONNE Fahrtbericht / Cruise Report SO239: EcoResponse assessing the ecology, connectivity and resilience of polymetallic nodule field systems, Balboa (Panama) - Manzanillo (Mexico) 11.03.-30.04.2015. GEOMAR Report (N. Ser.), 25, 204 pp,
Median Latitude: 18.792256 * Median Longitude: -128.354188 * South-bound Latitude: 18.783199 * West-bound Longitude: -128.377640 * North-bound Latitude: 18.815952 * East-bound Longitude: -128.335052
Date/Time Start: 2015-04-23T06:29:59 * Date/Time End: 2015-04-23T09:30:07
Minimum DEPTH, water: 3442.1 m * Maximum DEPTH, water: 4845.4 m
SO239_201-1 (SO239_201-1_AUV19) * Latitude Start: 18.791170 * Longitude Start: -128.376500 * Latitude End: 18.833170 * Longitude End: -128.357330 * Date/Time Start: 2015-04-23T05:00:00 * Date/Time End: 2015-04-23T23:52:00 * Elevation Start: -4807.7 m * Elevation End: -4810.8 m * Location: Areas of Particular Environmental Interest (APEI) * Campaign: SO239 * Basis: Sonne_2 * Method/Device: Autonomous underwater vehicle (AUV) * Comment: Recovery: SO239_208-1
Target Altitude of AUV above seafloor: 7.5m
#NameShort NameUnitPrincipal InvestigatorMethod/DeviceComment
1DATE/TIMEDate/TimeRothenbeck, MarcelGeocode
2LATITUDELatitudeRothenbeck, MarcelGeocode
3LONGITUDELongitudeRothenbeck, MarcelGeocode
4DEPTH, waterDepth watermRothenbeck, MarcelGeocode
5DistanceDistancemRothenbeck, MarcelAUV to seafloor
6Time, relativeTime relmsSchoening, Timm
7Image brightnessImg brightnessrelative unitsSchoening, Timm
8Ground visibility (1=yes/0=no)Ground vis#Schoening, Timmseafloor
9File nameFile nameSchoening, Timm
10File formatFile formatSchoening, Timm
11File sizeFile sizekByteSchoening, Timm
12Uniform resource locator/link to imageURL imageSchoening, TimmDigital camera, Canon EOS 1100D, Fisheye lens0.5 image / second
13Pitch anglePitchdegRothenbeck, Marcel
14Roll angleRolldegRothenbeck, Marcel
15Chlorophyll aChl aµg/lRothenbeck, MarcelFluorometer, WET Labs ECO FLNTU
16Turbidity (Nephelometric turbidity unit)TurbidityNTURothenbeck, MarcelFluorometer, WET Labs ECO FLNTU
17ConductivityCondmS/cmRothenbeck, MarcelCTD, SEA-BIRD SBE 49
18Temperature, waterTemp°CRothenbeck, MarcelCTD, SEA-BIRD SBE 49
19SalinitySalRothenbeck, MarcelCTD, SEA-BIRD SBE 49
20Sound velocity in waterSVm/sRothenbeck, MarcelCTD, SEA-BIRD SBE 49
21AUV forward velocityAUV forward velm/sRothenbeck, MarcelAcoustic Doppler Current Profiling (ADCP)
22AUV starboard velocityAUV starboard velm/sRothenbeck, MarcelAcoustic Doppler Current Profiling (ADCP)
23AUV vertical velocityAUV vertical velm/sRothenbeck, MarcelAcoustic Doppler Current Profiling (ADCP)
24HeadingHeaddegRothenbeck, MarcelAcoustic Doppler Current Profiling (ADCP)
103230 data points

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