JPL Mars Yard Database

JPL Mars Yard Database is built to understand terrain types from various sensors, such as RGB and IR. It has 2 datasets; 1. Semantic Dataset 1: Understanding Terrain Types from RGB and IR, 2. Virtual Sensor Dataset 1: Deriving RGB-to-IR mapping models. Both datasets were collected at JPL Mars Yard on Nov. 17th 2017, with a RGB camera (FLIR Grasshopper 5M) and a thermal camera (FLIR AX65). We collected images every 1 hour, from 10 am till 5 pm (sunset), totally 8 times. Total number of images at each time is about 52 images, by changing the position of the cameras. The dataset includes challenging images such as shadows, reflection due to the Sun, and direct sunlight into the cameras.JPL（喷气推进实验室）火星场数据库（JPL Mars Yard Database）旨在通过RGB、红外（IR）等各类传感器感知地形类型。该数据集包含两个子数据集：1. 语义数据集1：基于RGB与红外图像的地形类型感知；2. 虚拟传感器数据集1：RGB转红外映射模型推导。两个数据集均于2017年11月17日在JPL火星场采集，所用设备为RGB相机（FLIR Grasshopper 5M）与热成像相机（FLIR AX65）。采集时段为当日上午10时至下午5时（日落时分），每1小时采集一次，共计8次采集。每次采集过程中通过调整相机位置，可获得约52张图像。该数据集涵盖多种高挑战性拍摄场景，包括阴影、太阳光反射以及相机直接摄入的直射阳光。