Abyssal: A Large-scale Underwater 3D Reconstruction Dataset

Abyssal dataset contains two sequences featuring distinctive man-made objects: a shipwreck and an aircraft wreck. The sequences were captured by the Submerged Resources Center of the National Park Service and are denoted as ISRO and KWAJ, respectively. ISRO contains 2,239 images of the Tokai Maru shipwreck near Guam, captured using a Nikon Z7 through the NPS SeaArray photogrammetry system. KWAJ contains 1,294 images of the Kwajalein Atoll F4U-1 Corsair wreck near Mellu Island, captured using a Nikon D5 with a Nauticam housing, a 14--24 mm f/2.8 Nikkor lens, and a 230 mm dome port. The 8K images exhibit some distortion due to low-light conditions and sparse viewpoints. Cleaned photogrammetry models with water removed are provided alongside both sequences. 

We acknowledge the NPS Submerged Resources Center for providing the raw videos and metadata for the Abyssal dataset.

Please cite our paper: “OceanXL: Large-scale Underwater 3D Gaussian Splatting via Block Partitioning and Adaptive Pruning,” accepted to SIGGRAPH Asia 2026.

https://arxiv.org/abs/2609.29985