The "Baltic Sea Ice Dataset" encompasses a comprehensive collection of visible and infrared images, and their labels, along with GNSS trajectory for Sampo ship, gathered from multiple data collection campaigns conducted in icy waters around Finland during February and March of 2021 and 2022. The dataset captures diverse sea ice conditions and navigational scenarios from four distinct locations in the Baltic Sea, including the Gulf of Finland on the Tallinn-Helsinki route, near Helsinki across the Katajanokka-Suomenlinna route, from the Sampo icebreaker tour at Kemi, and a ferry route across Hailuoto-Oulu. Images were obtained using a variety of equipment, including FLIR Blackfly visible range cameras, Nikon DSLR 3300, smartphones, and a Raymarine FLIR M232 thermal infrared camera, ensuring a diverse dataset for the development of situational awareness systems for autonomous navigation in icy waters. A subset of this dataset has been labeled with 13 classes to include several ice types, such as level ice, ice-tracks, re-frozen ice-tracks, and brash ice, aiding in the training and evaluation of state-of-the-art deep learning models for ice detection and navigation. Provided .zip files contains sea ice images collected from ice waters across Finland.This was conducted as a part of ESA funded NAVISP project named ENHANCE.https://activities.esa.int/4000131018