SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes

Abstract

This dataset presents data recorded at the LunaLab from the Interdisciplinary Research Center for Security reliability and Trust (SnT) at the University of Luxembourg, an indoor test facility designed to replicate the optical characteristics of multiple lunar latitudes. The data recorded is specifically intended for engineers and researches working on vision-based robotic navigation (and associated tools) across high-latitude lunar regions; although it could also serve those working on computer vision applications at the edges of the spectrum of perceptually degraded scenarios. It includes images, inertial, and wheel odometry data from robots navigating seven distinct trajectories under multiple high-latitude illumination scenarios, simulating conditions from lunar dawn to night time with and without the aid of headlights. Data was captured using Leo rovers incorporating a ZED2 stereo-inertial sensor, a FLIR Blackfly-S monocular monochrome camera, and 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 vision-based autonomous navigation pipelines for future lunar missions targeting high-latitude regions.

Further information about this dataset can be found in:

Rodríguez-Martínez, D., van der Meer, D., Song, J., Bera, A., Pérez del Pulgar, C., Olivares-Mendez, M. A., (2025) SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes, https://doi.org/10.48550/arXiv.2506.22956.