Robotic Lava Tube Mapping and Multimodal Data Collection Using Quadruped and LiDAR

As part of the Rhizome 2.0 project—an initiative investigating the development of human habitats in Martian lava tubes—we conducted an extensive robotic mapping mission inside the Grotta di Monte Intraleo, a terrestrial lava tube in Sicily serving as an analogue site. This dataset supports the exploration of construction and habitation strategies in similarly structured Martian environments.The dataset includes multi-modal mapping and environmental data collected using manual and robotic scanning techniques. Specifically, the data comprises:<strong>High-resolution floor reference images</strong>: Manually collected photographs of the lava tube floor were taken at a constant height and under controlled illumination to serve as visual calibration and textural references for scale and surface feature analysis.<strong>3D mesh data from mobile scanning</strong>: Phone-based 3D scans were conducted using the Scaniverse app, producing <code>.obj</code> files for rapid spatial documentation.<strong>LiDAR scans</strong>: High-density LiDAR point clouds of the tube interior provide accurate geometric representations.<strong>Robot FPV video footage</strong>: A robotic quadruped equipped with a forward-facing camera collected immersive, first-person video while navigating the cave, providing visual context and documenting terrain traversal.<strong>SLAM-based navigation maps</strong>: Simultaneous Localization and Mapping (SLAM) data recorded during robotic traversal were used to generate autonomous navigation maps.<strong>Ambient environmental data</strong>: Time-synchronized logs from onboard sensors recorded temperature, humidity, and light levels, contributing to environmental characterization of the site.<strong>System interface recordings</strong>: Screen captures of the framework’s user interface during data acquisition sessions offer insights into the control, mapping, and visualization tools used throughout the mission.Data collection adhered to all local regulations, and care was taken to minimize impact on the natural environment of the cave. This dataset is intended to support reproducible research in robotic mapping, autonomous navigation, and extraterrestrial habitat design.