List of Datasets

Other

POLAR Traverse Dataset

Stereo and monocular perception for lunar polar exploration

Physical laboratory stereo imagery of lunar-like terrain under extreme polar lighting, with 24 stop-and-capture traverses, exposure sweeps, terrain point clouds and estimated camera poses.

Metadata: Complete Metadata needs review

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Other
Environment
Indoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

2 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

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 Other LiDAR terrain scanning Not reported Not reported 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 notes
Reported 8 mm scan resolution is not a stated positional accuracy.
Reference notes
Four terrain scans with minimum height shifted to zero and a registered, minimally processed composite point cloud are released. Composite is cropped to the test bed; raw scans include surrounding scene. Four scans do not establish four scanners. View-only packages omit this reference, available separately.
6DoF Structure from motion COLMAP Not reported Not reported 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.
Derived
Accuracy notes
Mean COLMAP pixel reconstruction error is 0.186 pixels; this is not independent metric pose validation.
Reference notes
Both approximate camera positions from rig geometry and refined COLMAP positions are included. Reconstruction uses half-resolution images, approximate initial poses and tuned parameters; external laboratory structures can aid matching.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
9 x 12 checkerboard with 60 mm squares

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

MATLAB stereo calibration using 71 captured pairs at 100 ms, excluding eight failed detections and one outlier; final mean reprojection error 0.111 pixels. Final calibration is released; release of raw calibration images is unconfirmed.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Nearby light sources cause distance-dependent fall-off unlike lunar sunlight.

Stationary capture excludes motion blur expected during continuous rover motion.

Images contain unmasked laboratory objects outside the terrain bed.

COLMAP camera poses depend on initial estimates and manual parameter tuning.

Cameras

stereo-bar

Model
Allied Vision Manta G-419
Setup
Stereo
Count
1
Effective cameras
2
Modality
Not Reported
Resolution
2048 x 2048
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Two cameras with Tamron M111FM08 8 mm f/1.8 lenses set to f8; 40 cm baseline. Stationary stereo pairs at 1 m increments, with 15 exposure settings from 1 to 500 ms; no temporal acquisition rate is established.

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

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
Not reported

BibTeX

Not reported

Dataset corrections

Notice a specific issue after reviewing the page?

Report an inaccuracy