BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset

摘要

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.