PaRCE Lunar Dataset

This dataset was obtained from a high-fidelity lunar environment developed in the Gazebo simulator. The dataset contains 8,661 RGB images (sized 240x320) taken from different regions within the lunar environment. All images are labeled as corresponding to one of eight regions: Smooth terrain on light side (855 images) Smooth terrain on dark side (3,110 images) Bumpy terrain on light side (969 images) Bumpy terrain on dark side (1,140 images) Inside crater on light side (799 images) Inside crater on dark side (952 images) At the edge of a crater (627 images) At the edge of a hill (209 images) This labeled dataset has been randomly partitioned into a training set of 6,235 images, a validation set of 1,559 images, and a test set of 867 images. This dataset also contains a set of out-of-distribution (OOD) data points. The in-distribution data contains images from an uninhabited moon, in which images contain the lunar surface, the sky, and shadows. OOD data contains images from a habited moon, in which images additionally contain astronauts and human-made structures (ladders and habitats). There are 2,045 RGB images (sized 240x320) in the OOD set.本数据集取自Gazebo仿真器构建的高保真月球环境。数据集包含8661张分辨率为240×320的RGB图像，采集自该月球环境的不同区域。所有图像均标注为以下八类区域之一： 1. 向阳面平坦地形（855张） 2. 背阳面平坦地形（3110张） 3. 向阳面崎岖地形（969张） 4. 背阳面崎岖地形（1140张） 5. 向阳面陨石坑内部（799张） 6. 背阳面陨石坑内部（952张） 7. 陨石坑边缘（627张） 8. 山丘边缘（209张） 该标注数据集已被随机划分为训练集（6235张图像）、验证集（1559张图像）与测试集（867张图像）。 本数据集还包含一组分布外（out-of-distribution, OOD）数据样本。分布内数据取自无人月球场景，图像内容包含月球表面、天空与阴影；分布外数据取自有人月球场景，图像额外包含宇航员与人造设施（梯子与栖息地）。分布外数据集共包含2045张分辨率为240×320的RGB图像。