MineInsight: A Multi-sensor Dataset for Humanitarian Demining Robotics in Off-Road Environments

TL;DR

MineInsight is a comprehensive multi-sensor dataset for off-road landmine detection, featuring diverse targets, multiple viewpoints, and spectral data to advance humanitarian demining robotics research.

Contribution

This paper introduces MineInsight, the first dataset to combine dual-view sensor scans from ground robots and robotic arms for landmine detection in off-road environments.

Findings

Provides a diverse set of 35 targets including landmines and objects

Includes multi-spectral data from RGB, VIS-SWIR, and LWIR sensors

Offers automated and human-refined bounding boxes for detection tasks

Abstract

The use of robotics in humanitarian demining increasingly involves computer vision techniques to improve landmine detection capabilities. However, in the absence of diverse and realistic datasets, the reliable validation of algorithms remains a challenge for the research community. In this paper, we introduce MineInsight, a publicly available multi-sensor, multi-spectral dataset designed for off-road landmine detection. The dataset features 35 different targets (15 landmines and 20 commonly found objects) distributed along three distinct tracks, providing a diverse and realistic testing environment. MineInsight is, to the best of our knowledge, the first dataset to integrate dual-view sensor scans from both an Unmanned Ground Vehicle and its robotic arm, offering multiple viewpoints to mitigate occlusions and improve spatial awareness. It features two LiDARs, as well as images captured at diverse spectral ranges, including visible (RGB, monochrome), visible short-wave infrared (VIS-SWIR), and long-wave infrared (LWIR). Additionally, the dataset provides bounding boxes generated by an automated pipeline and refined with human supervision. We recorded approximately one hour of data in both daylight and nighttime conditions, resulting in around 38,000 RGB frames, 53,000 VIS-SWIR frames, and 108,000 LWIR frames. MineInsight serves as a benchmark for developing and evaluating landmine detection algorithms. Our dataset is available at https://github.com/mariomlz99/MineInsight.