I have been very fortunate in my tenure as a perception researcher to have received unprecedented access to field sites and survey equipment. As a courtesy to the research community, my lab makes novel data publicly available whenever possible.

NASA FROST Dataset (2019)

High resolution DEMs and registered orthoimages of plausible icy moon (ocean world) surface terrain at the lander and rover scale. This catalog spans a range of appearance and geometry features suitable for terrain interaction research. Data was collected at analog sites in Death Valley and the Atacama desert. [link]

NASA POLAR Stereo Dataset (2017)

A library of stereo pairs taken at NASA Ames’s “Lunar Lab” which I am developing. The lab features an analog testbed that simulates imaging conditions at the Poles of the Moon. Particular attention is paid to accurate modeling of scene dynamic range, reflectance properties, and illumination. [link]

Planetary Pits and Caves Analog Dataset (2014)

Point clouds and mesh models from various natural and man-made subterranean sites, collected in support of developing robots for cave exploration. Data was acquired using high resolution LIDAR scanning with registered color information. [link]

[Collaboration] Plausible Planetary Material Geometry and Reflectance Imaging Dataset (2021)

Simulated planetary materials (rendered images and depth maps) for augmentation of visible-light microscopy training data. Developed by our intern, Brevon Tilmon, and the UFlorida FOCUS Lab. [link]

[Collaboration] Pit Photogrammetry: A Terrestrial Dataset (2020)

Multi-view stereo reference of the West Desert Sinkhole in Utah. 1500 Images and LIDAR groundtruth were collected as a part of the CMU Skylight Mission development. [link]