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Underwater videos were acquired and annotated by mapping experts to identify and characterize geoforms, substrates and biological cover types offshore the Bayfield Peninsula, Wisconsin, Lake Superior. The annotations ground-truth remotely sensed lakebed imagery derived from previous surveys of the lakebed with a multibeam echosounder , and can be used to assess the accuracy of classified lakebed maps. Videos were acquired by an Outland 1000 ROV deployed by a team from the National Park Service and Northwestern Michigan College during Jun 15-17, 2021 and a Seaviewer underwater drop camera deployed by a team from NCCOS and GLERL during Aug 9-17, 2021. The platform of operation was the R2512, a 25<\/SPAN>\u2019<\/SPAN><\/SPAN> SeaArk operated by GLERL. This dataset includes 378 videos each representing a unique location on the lakebed. The lakebed videos were acquired as part of a broader collaborative benthic mapping project to address emerging littoral issues in Wisconsin waters funded by the Great Lakes Restoration Initiative. 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