Fusion of Color, Depth, and Thermal Modalities for Rover Navigation in Unstructured Environments
Creators
-
1.
Universidad de Málaga
-
2.
University of Luxembourg
- 3. UNIVERSIDAD DE MALAGA
Description
This multimodal dataset consists of labeled images combining color (RGB), depth, and thermal data. The imagery was generated using a Realsense D435i stereo camera for RGB and depth, and an Optris PI-640i thermal camera for thermal imaging. The dataset was created during MaRTA rover traverses at the Bardenas Reales semi-desert, located in Cabanillas, Navarra, Spain. The labeled segmentation masks are single-channel images of the same resolution as the captured data (1280 x 720 pixels), with each class represented by a unique integer label. RGB images are provided in PNG format, while depth and radiometric thermal images are stored in CSV format.
The dataset includes eight semantic classes, each assigned a unique label and corresponding RGB color code:
| Label ID | Class Name | RGB Color Code |
|---|---|---|
| 0 | Void | (0, 0, 0) |
| 1 | Compact | (234, 182, 118) |
| 2 | Grass | (91, 159, 74) |
| 3 | Bedrock | (139, 128, 0) |
| 4 | Sandy | (192, 64, 0) |
| 5 | Pebble | (115, 147, 179) |
| 6 | Rock | (229, 228, 226) |
| 7 | Vegetation | (116, 216, 16) |
Files
BASEPROD_labeled.zip
Files
(5.2 GB)
| Name | Size | Download all |
|---|---|---|
|
md5:1e6fa048ae5bdf2dfc759a8211d0a225
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5.2 GB | Preview Download |
Additional details
Related works
- Is derived from
- Data paper: 10.1038/s41597-024-03881-1 (DOI)