UGV
SPICE-HL3
Lunar analog robotic perception
Physical lunar analog rover recordings with passive SPAD, monochrome and stereo imagery, inertial data, wheel odometry and motion-capture reference poses.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UGV
- Environment
- Indoor
- Data origin
- Real-world
- Sensor count
- 7
- Ground truth
- Available
- Calibration
- Partial Raw Data
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Motion capture | OptiTrack · Primeˣ | 12 cameras | 25 Hz | Full |
Reference provenance
External
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Partial Raw Data
- Processed parameters
- Available
- Raw calibration data
- Available
- Calibration targets
- Not reported
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Camera intrinsics and original calibration images, including 8-bit SPAD calibration images; camera/global and camera/camera extrinsics plus IMU/wheel transforms, temporal offsets and rover CAD.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Coarse analog soil and nearby lighting imperfectly reproduce lunar photometry.
Motion-capture LEDs and infrared create unwanted illumination, ghosting and flares.
Stereo frames require timestamp matching and interpolation; inertial packets suffer delays and losses.
Cameras
flir
- Model
- Teledyne FLIR BlackflyS
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Grayscale
- Resolution
- 720 x 540
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Trajectory A static images; JPG, 8-bit, exposure-dependent frame rate.
zed2
- Model
- StereoLabs ZED2
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 640 x 360
- Rate
- 10 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Monochrome images at 10 Hz and RGB at 5 Hz from the same physical stereo system; rectified left/right images in MCAP. Stereo pairs filtered and delayed timestamps corrected; raw frames retained in rosbags.
spad512
- Model
- Pi Imaging Technologies SPAD512
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Grayscale
- Resolution
- 512 x 512
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Passive intensity imaging, not an event or depth stream. Static A supplies binary frames; dynamic B–E supplies 4-bit images. B 215–510 Hz, C 120–440 Hz, D 125–154 Hz, E 30–120 Hz. Binary batch integration throughput is about 10 Hz, a distinct quantity.
IMUs
Leo rover built-in IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
ZED2 integrated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Odometry
- Name
- Wheel odometry
- Count
- 1
- Rate
- 25 Hz
- Notes
- Computed linear/angular velocities and estimated 3D position from averaged in-wheel encoder readings; CSV and MCAP. Physical raw encoder streams are not independently established.
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.
Not reported
Dataset corrections
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