2026-05-30T17:33:09Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/460872026-03-19T00:46:44Zcom_10630_2254col_10630_37953

SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes. Rodríguez-Martínez, David Van der Meer, Dave Song, Junlin Bear, Abhishek Pérez-del-Pulgar-Mancebo, Carlos Jesús Olivares-Méndez, Miguel Ángel Robótica Vehículos autónomos Luna - Exploración Sistemas de imágenes 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. 2026-01-27 journal article 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 https://hdl.handle.net/10630/46087 10.1038/s41597-026-06668-8 eng Rodríguez-Martínez, D., van der Meer, D., Song, J., Bera, A., Pérez del Pulgar Mancebo, C. J., & Olivares-Mendez, M. A. (2024). SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes (v1.0.0) [Data set]. Zenodo. https://doi.org/10.5281/zenodo.13970078 PID2024-160373OB-C21 http://creativecommons.org/licenses/by/4.0/ open access Attribution 4.0 International Springer Nature