RT Journal Article
T1 SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes.
A1 Rodríguez-Martínez, David
A1 Van der Meer, Dave
A1 Song, Junlin
A1 Bear, Abhishek
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Olivares-Méndez, Miguel Ángel
K1 Robótica
K1 Vehículos autónomos
K1 Luna - Exploración
K1 Sistemas de imágenes
AB Exploring high-latitude lunar regions presents a challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a visual field dominated by a strong contrast featuring long, dynamic shadows. Reproducing these conditions on Earth requires sophisticated simulators and specialized facilities. We introduce a unique dataset recorded at the LunaLab from the SnT - University of Luxembourg, an indoor test facility designed to replicate the optical characteristics of multiple lunar latitudes. Our dataset includes images, inertial measurements, and wheel odometry data from robots navigating different trajectories under multiple illumination scenarios, simulating high-latitude lunar conditions from dawn to nighttime with and without the aid of headlights, resulting in 88 distinct sequences containing a total of 1.3 M images. Data was captured using a stereo RGB-inertial sensor, a monocular monochrome camera, and, for the first time, a novel single-photon avalanche diode (SPAD) camera. We recorded both static and dynamic image sequences, with robots navigating at slow (5 cm/s) and fast (50 cm/s) speeds. All data is calibrated, synchronized, and timestamped, providing a valuable resource for validating perception tasks from vision-based autonomous navigation to scientific imaging for future lunar missions targeting high-latitude regions or those intended for robots operating across perceptually degraded environments.
PB Springer Nature
YR 2026
FD 2026-01-27
LK https://hdl.handle.net/10630/46087
UL https://hdl.handle.net/10630/46087
LA eng
NO Rodríguez-Martínez, D., van der Meer, D., Song, J. et al. SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes. Sci Data 13, 374 (2026). https://doi.org/10.1038/s41597-026-06668-8
NO The dataset is publicly available at Zenodo: https://doi.org/10.5281/zenodo.13970078. All code described in this paper can be accessed at https://GitHub.com/spaceuma/spice-hl3.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 mar 2026