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BASEPROD：巴尔德纳斯半沙漠行星漫游者数据集。

BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset.

作者信息

Gerdes Levin, Wiese Tim, Castilla Arquillo Raúl, Bielenberg Laura, Azkarate Martin, Leblond Hugo, Wilting Felix, Ortega Cortés Joaquín, Bernal Alberto, Palanco Santiago, Pérez Del Pulgar Carlos

机构信息

Space Robotics Lab, Department of Systems Engineering and Automation, University of Málaga, Malaga, Spain.

Planetary Robotics Lab, Automation and Robotics Section, European Space Agency, Noordwijk, The Netherlands.

出版信息

Sci Data. 2024 Sep 27;11(1):1054. doi: 10.1038/s41597-024-03881-1.

DOI:10.1038/s41597-024-03881-1
PMID:39333635
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11437203/
Abstract

Dataset acquisitions devised specifically for robotic planetary exploration are key for the advancement, evaluation, and validation of novel perception, localization, and navigation methods in representative environments. Originating in the Bardenas semi-desert in July 2023, the data presented in this Data Descriptor is primarily aimed at Martian exploration and contains relevant rover sensor data from approximately 1.7km of traverses, a high-resolution 3D map of the test area, laser-induced breakdown spectroscopy recordings of rock samples along the rover path, as well as local weather data. In addition to optical cameras and inertial sensors, the rover features a thermal camera and six force-torque sensors. This setup enables, for example, the study of future localization, mapping, and navigation techniques in unstructured terrains for improved Guidance, Navigation, and Control (GNC). The main features of this dataset are the combination of scientific and engineering instrument data, as well as the inclusion of the thermal camera and force-torque sensors in particular.

摘要

专门为机器人行星探索设计的数据集采集，对于在具有代表性的环境中推进、评估和验证新型感知、定位及导航方法至关重要。本数据描述符中呈现的数据于2023年7月源自巴尔德纳斯半沙漠，主要针对火星探测，包含来自约1.7公里行程的相关漫游车传感器数据、测试区域的高分辨率三维地图、漫游车路径沿线岩石样本的激光诱导击穿光谱记录以及当地气象数据。除了光学相机和惯性传感器外，该漫游车还配备了一台热成像相机和六个力 - 扭矩传感器。例如，这种设置能够研究在非结构化地形中的未来定位、测绘和导航技术，以改进制导、导航与控制（GNC）。该数据集的主要特点是科学仪器数据与工程仪器数据相结合，特别是包含了热成像相机和力 - 扭矩传感器。

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本文引用的文献

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Sky and Ground Segmentation in the Navigation Visions of the Planetary Rovers.行星漫游车导航视野中的天空与地面分割。
Sensors (Basel). 2021 Oct 21;21(21):6996. doi: 10.3390/s21216996.
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