List of Datasets

Handheld

MADMAX

Mars analog

Hand-held Mars-analog visual-inertial dataset with stereo, color and omnidirectional imagery, IMU data, and dual-antenna RTK ground truth.

Metadata: Complete Metadata source documented Released 2021

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Quick facts

Vehicle type
Handheld
Environment
Outdoor
Data origin
Real-world
Sensor count
7
Ground truth
Available
Calibration
Full Raw Calibration Data
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

5 reported

IMUs

1 reported

GNSS

1 reported

LiDAR

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Other RTK GNSS Not reported Not reported 1 Hz Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy and notes
Accuracy notes
Fixed RTK solutions report approximately 2 cm horizontal and 5 cm vertical standard deviation; roll and yaw precision is generally below 0.5 degrees.
Reference notes
Inertial-independent 5DoF GNSS-only poses with uncertainties. The controlled scope vocabulary does not collapse this reference into 6DoF.
6DoF GNSS / INS Not reported Not reported 100 Hz Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Hybrid
Accuracy and notes
Accuracy notes
Fixed RTK solutions report approximately 2 cm horizontal and 5 cm vertical standard deviation; roll and yaw precision is generally below 0.5 degrees.
Reference notes
Fused 6DoF GNSS/IMU poses with uncertainties.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Full Raw Calibration Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
dlr_calde_pattern

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Raw calibration imagery, pattern dimensions, camera intrinsics/extrinsics, rectification parameters, IMU-to-camera calibration, and frame transforms are included for all five cameras.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Only hand-held SUPER experiments are part of MADMAX; the paper's rover-mounted comparison runs belong to a separate project and are not included.

Gigabit-Ethernet problems caused camera frame drops, commonly 5–10% of frames and up to 19% in one run; short gaps can span one to eight frames.

Three runs have documented extrinsic camera decalibration.

Lens flare, strong shadows, overexposure, underexposure, and the moving SUPER shadow create difficult visual conditions.

GNSS precision degrades in some runs because of short base-station recordings or temporary satellite loss, with orientation affected most strongly.

Cameras

navigation-stereo

Model
Allied Vision Mako G-319
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
1032 x 772
Rate
14 Hz
Shutter
Not Reported
Lens type
Standard
HFOV
61 deg
VFOV
Not reported

color-camera

Model
Allied Vision Mako G-319
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
2064 x 1544
Rate
4 Hz
Shutter
Not Reported
Lens type
Standard
HFOV
61 deg
VFOV
Not reported

omnidirectional-stereo

Model
Allied Vision Mako G-319
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
2064 x 1544
Rate
4-8 Hz
Shutter
Not Reported
Lens type
Omnidirectional
HFOV
360 deg
VFOV
280 deg

IMUs

Xsens MTi-10

Model
Xsens MTi-10
Count
1
Accel / gyro
100 / 100 Hz

GNSS

Piksi Multi GNSS SwiftNav

Model or name
Piksi Multi GNSS SwiftNav
Count
1
Rate
1 Hz
GNSS type
RTK
Position output
Available
Velocity output
Available
Heading output
Not reported

LiDAR

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Meyer2021

BibTeX

@article{Meyer2021,
  title = {The {{MADMAX}} Data Set for Visual-inertial Rover Navigation on {{Mars}}},
  author = {Meyer, Lukas and Sm{\'i}{\v s}ek, Michal and Fontan Villacampa, Alejandro and Oliva Maza, Laura and Medina, Daniel and Schuster, Martin J. and Steidle, Florian and Vayugundla, Mallikarjuna and M{\"u}ller, Marcus G. and Rebele, Bernhard and Wedler, Armin and Triebel, Rudolph},
  year = {2021},
  month = sep,
  journal = {Journal of Field Robotics},
  volume = {38},
  number = {6},
  pages = {833--853},
  issn = {1556-4959, 1556-4967},
  doi = {10.1002/rob.22016},
  urldate = {2023-10-04},
  langid = {english}
}

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