These data consist of down-looking images of Lake Michigan benthos, collected in 2020 and 2021 with an autonomous underwater vehicle (AUV). Information about each image (i.e., latitude, longitude, depth from surface, altitude, roll, pitch, yaw, and creation time) can be found in the associated csv file. Substrate type was divided into 9 classes based on the Coastal and Marine Ecological Classification Standard (CMECS) and each image was assigned a substrate class by at least 3 trained labelers.