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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.

Note: Datasets webpages hosted on NASA Servers may be temporarily unreachable or have formatting issues as they work to transition to a new content management system in 2023.

NASA POLAR Traverse Dataset (2023)

Keywords: Lunar poles, stereo vision, visual odometry

Companion to the POLAR Stereo Dataset (see below), focusing on stereo pairs with incremental egomotion for applications such as visual odometry in the lighting conditions of the Lunar Poles. [link]

NASA FROST Dataset (2019)

Keywords: icy moon, surface texture, small features

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)

Keywords: Lunar terrain, Polar lighting conditions, stereo images

A library of stereo pairs taken at the NASA Ames “Lunar Lab”. The lab features a regolith 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)

Keywords: Lava tube, skylight, 3D model, LIDAR scans

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. Moved from CMU to NASA servers in 2019. [link]