POLAR Traverse 数据集：极端光照条件下模拟月球极地地形穿越的立体相机图像数据集
The POLAR Traverse Dataset: A Dataset of Stereo Camera Images Simulating Traverses across Lunar Polar Terrain under Extreme Lighting Conditions
AI总结：
本文提出 POLAR Traverse 数据集，包含模拟月球极地极端光照下穿越的高保真立体图像，用于开发和测试视觉里程计等算法，并揭示极地光照条件。
摘要：
我们提出了 POLAR Traverse 数据集：一个在极地光照条件下模拟直线穿越的月球类似地形的高保真立体图像对数据集。通过在一个填充有月球风化层模拟物并塑造成模拟月球南极地形的试验台上移动一个悬挂的立体横杆，以 1 米间隔记录了不同相机高度和俯仰角的单独穿越图像。同时记录了地面真实几何和相机位置信息。该数据集旨在用于开发和测试依赖立体或单目相机图像的软件算法，例如视觉里程计，用于月球极地环境，并提供对月球极地地区预期光照条件的深入了解。
英文摘要：
We present the POLAR Traverse Dataset: a dataset of high-fidelity stereo pair images of lunar-like terrain under polar lighting conditions designed to simulate a straight-line traverse. Images from individual traverses with different camera heights and pitches were recorded at 1 m intervals by moving a suspended stereo bar across a test bed filled with regolith simulant and shaped to mimic lunar south polar terrain. Ground truth geometry and camera position information was also recorded. This dataset is intended for developing and testing software algorithms that rely on stereo or monocular camera images, such as visual odometry, for use in the lunar polar environment, as well as to provide insight into the expected lighting conditions in lunar polar regions.
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