LuSNAR:A Lunar Segmentation, Navigation and Reconstruction Dataset based on Muti-sensor for Autonomous Exploration

TL;DR

LuSNAR is a comprehensive lunar dataset with multi-sensor data, diverse scenes, and high-precision labels, designed to advance autonomous exploration algorithms for lunar rovers.

Contribution

The paper introduces LuSNAR, a multi-task, multi-scene lunar dataset with high-quality labels, enabling more reliable evaluation of perception and navigation algorithms.

Findings

Dataset supports evaluation of semantic segmentation, 3D reconstruction, and navigation.

Built 9 lunar simulation scenes with diverse topography and object density.

Experimental results validate dataset's utility for autonomous lunar exploration tasks.

Abstract

With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development and verification of algorithms require highly reliable data support. Most of the existing lunar datasets are targeted at a single task, lacking diverse scenes and high-precision ground truth labels. To address this issue, we propose a multi-task, multi-scene, and multi-label lunar benchmark dataset LuSNAR. This dataset can be used for comprehensive evaluation of autonomous perception and navigation systems, including high-resolution stereo image pairs, panoramic semantic labels, dense depth maps, LiDAR point clouds, and the position of rover. In order to provide richer scene data, we built 9 lunar simulation scenes based on Unreal Engine. Each scene is divided according to topographic relief and the density of objects. To verify the usability of the dataset, we evaluated and analyzed the algorithms of semantic segmentation, 3D reconstruction, and autonomous navigation. The experiment results prove that the dataset proposed in this paper can be used for ground verification of tasks such as autonomous environment perception and navigation, and provides a lunar benchmark dataset for testing the accessibility of algorithm metrics. We make LuSNAR publicly available at: https://github.com/zqyu9/LuSNAR-dataset.