LunaPolaris-sequence_01

The LunaPolaris dataset consists of rosbag data collected with a small rover operating inside the LunaLab at the Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg. The sequences were recorded in diverse visual environments featuring various visual and geometric landmarks under different illumination conditions. This repository is part of a multi-repository dataset, enabling users to download only the sequences of interest. Stereo calibration images for the dataset are provided in a dedicated calibration repository. Each sequence contains stereo images, LiDAR point clouds from a solid-state LiDAR, IMU data, and ground truth pose data. The rover follows the same ~30 m trajectory in all sequences, while the surrounding environment changes. This consistent trajectory facilitates direct comparison of environmental effects on perception and mapping performance. The table below lists the available sequences and their corresponding repositories. Repository DOI Stereo Calibration Images https://zenodo.org/records/16728838 Sequence 01 https://zenodo.org/records/15737938 Sequence 02 https://zenodo.org/records/15744408 Sequence 03 https://zenodo.org/records/15744629 Sequence 04 https://zenodo.org/records/15745640 Sequence 05 https://zenodo.org/records/15745689 Sequence 06 https://zenodo.org/records/15745828 Sequence 07 https://zenodo.org/records/15745932 Sequence 08 https://zenodo.org/records/15746302 Sequence 09 https://zenodo.org/records/15746894 Sequence 10 https://zenodo.org/records/15747096 Sequence 11 https://zenodo.org/records/15747348 Sequence 12 https://zenodo.org/records/15747458LunaPolaris数据集由卢森堡大学安全、可靠性与信任跨学科中心（SnT）的LunaLab内部搭载的小型漫游车采集的rosbag数据包构成。该数据集的序列录制于多样化视觉环境中，涵盖各类视觉与几何地标，且覆盖不同光照条件。 本仓库属于多仓库数据集体系的组成部分，支持用户仅下载自身所需的序列。数据集的立体标定图像可在专属标定仓库中获取。 每个序列均包含立体图像、固态激光雷达（LiDAR）点云数据、惯性测量单元（IMU）数据以及真值位姿数据。所有序列中漫游车均沿约30米的统一轨迹行驶，而周边环境则存在差异。该一致轨迹便于直接对比环境对感知与建图性能的影响。 下表列出了可用序列及其对应仓库： | 仓库名称 | 资源链接 | |------------------------|--------------------------------------------------------------------------| | 立体标定图像 | https://zenodo.org/records/16728838 | | 序列01 | https://zenodo.org/records/15737938 | | 序列02 | https://zenodo.org/records/15744408 | | 序列03 | https://zenodo.org/records/15744629 | | 序列04 | https://zenodo.org/records/15745640 | | 序列05 | https://zenodo.org/records/15745689 | | 序列06 | https://zenodo.org/records/15745828 | | 序列07 | https://zenodo.org/records/15745932 | | 序列08 | https://zenodo.org/records/15746302 | | 序列09 | https://zenodo.org/records/15746894 | | 序列10 | https://zenodo.org/records/15747096 | | 序列11 | https://zenodo.org/records/15747348 | | 序列12 | https://zenodo.org/records/15747458 |