Abstract
Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a visual field dominated by a high dynamic range featuring long, dynamic shadows. Reproducing these conditions on Earth requires sophisticated simulators and specialized facilities. We introduce a unique dataset recorded at the LunaLab from the SnT - University of Luxembourg, an indoor test facility designed to replicate the optical characteristics of multiple lunar latitudes. Our dataset includes images, inertial measurements, and wheel odometry data from robots navigating seven distinct trajectories under multiple illumination scenarios, simulating high-latitude lunar conditions from dawn to night time with and without the aid of headlights, resulting in 88 distinct sequences containing a total of 1.3M images. Data was captured using a stereo RGB-inertial sensor, a monocular monochrome camera, and for the first time, a novel single-photon avalanche diode (SPAD) camera. We recorded both static and dynamic image sequences, with robots navigating at slow (5 cm/s) and fast (50 cm/s) speeds. All data is calibrated, synchronized, and timestamped, providing a valuable resource for validating perception tasks from vision-based autonomous navigation to scientific imaging for future lunar missions targeting high-latitude regions or those intended for robots operating across perceptually degraded environments. The dataset can be downloaded from this https URL, and a visual overview is available at this https URL. All supplementary material can be found at this https URL.
Abstract (translated)
探索高纬度的月球区域对机器人来说是一个极具挑战性的视觉环境。由于低太阳高度角和少量光线散射，这些地区的视野中充满了宽广的动态阴影，导致光照范围极大。在地球上再现这种条件需要复杂的模拟器和专门设施。 我们介绍了一套独特的数据集，该数据集由卢森堡大学SnT的研究机构LunaLab室内测试设施记录而成。这个实验室旨在复制不同月球纬度的光学特性。我们的数据集包含了机器人在七条不同的轨迹上，在多种光照条件下导航时所拍摄的图像、惯性测量值和轮式里程计数据，模拟了从黎明到夜晚的不同高纬度月球条件，包括开启和关闭前照灯的情况，总共包含88种不同的序列，总共有130万张图片。这些数据使用了一套立体RGB惯性传感器、单色相机以及首次使用的新型单光子雪崩二极管（SPAD）摄像头进行采集。 我们记录了静态和动态的图像序列，在慢速（5厘米/秒）和快速（50厘米/秒）的速度下，机器人在导航过程中的表现。所有数据都经过校准、同步并添加时间戳，为从基于视觉的自主导航任务到未来针对高纬度地区或感知环境恶劣条件下的机器人的科学成像等验证提供了宝贵的资源。 该数据集可以从以下链接下载：[数据集下载链接]（请将方括号内的文本替换为实际URL）。 可视化概览可以在以下链接查看：[视觉概览链接] （请将方括号内的文本替换为实际URL）。 所有补充材料可以在以下链接找到：[补充材料链接](请将方括号内的文本替换为实际URL)。
URL
https://arxiv.org/abs/2506.22956
