Underwater Imaging Dataset in Small Harbor Pond Bay at Pramuka Island, Seribu Island District, Indonesia

This is a series dataset of underwater imaging collected at Pramuka Island waters, Seribu Island District, Indonesia. The present is situated in a small-scale harbor pond bay. Its purpose is to facilitate the testing of a variety of underwater imaging algorithms, specifically those pertaining to computer vision, photogrammetry, and SLAM. The dataset in the small harbor pond environment is accompanied by ground-truth data, which has been collected via AR-Track Alvar marker detection. Notably, the dataset has been captured by utilizing a GoPro Hero 10 protected with 5 mm thick flat panel glass housing and use a standard wide lens setting with a field of view of 135 ° and 768x432 image resolution. The GoPro Hero 10 is also equipped with inertial measurement unit (IMU) sensors, which capture crucial inertial data regarding orientation and motion. Notably, the recorded IMU sensor data can be extracted from the raw video files using a telemetry extractor tool.