The POLAR Traverse Dataset: A Dataset of Stereo Camera Images Simulating Traverses across Lunar Polar Terrain under Extreme Lighting Conditions

arXiv:2403.12194v1 Announce Type: new
Abstract: We present the POLAR Traverse Dataset: a dataset of high-fidelity stereo pair images of lunar-like terrain under polar lighting conditions designed to simulate a straight-line traverse. Images from individual traverses with different camera heights and pitches were recorded at 1 m intervals by moving a suspended stereo bar across a test bed filled with regolith simulant and shaped to mimic lunar south polar terrain. Ground truth geometry and camera position information was also recorded. This …

abstract arxiv cs.cv cs.ro dataset fidelity images lighting line polar type