BASEPROD: The Bardenas SemiDesert Planetary Rover Dataset

Dataset Summary

BASEPROD is a planetary rover dataset collected in the Bardenas semi-desert in Spain, containing approximately 36,000 synchronized sets of RGB, depth, and thermal images from a Realsense camera and thermal sensor, plus 62,000 additional stereo pairs from a Bumblebee XB3 camera. The dataset was collected using the MaRTA rover (Martian Rover Testbed for Autonomy) developed by ESA, traversing approximately 1.7km of Mars-analog terrain.

This is merely a reupload of the existing dataset. For more information about the dataset and its creation, please refer to ESA Robotics Datasets

Supported Tasks

The dataset can be used for, among others:

• Image Segmentation
• Terrain Classification
• Multi-modal Vision Analysis

Sensors

Realsense D435i RGB-D camera:

• RGB resolution: 1280x720 pixels.
• Depth resolution: 848x480 pixels.
• Mounted in front center, tilted down 20°.

Optris PI 640i thermal camera:

• Resolution: 640x480 pixels.
• Mounted below Realsense camera.

Data Structure

• color: RGB images, PNG format (1280x720).
• depth: Values in millimeters.
• depth_16bit: 16-bit unsigned grayscale PNG (848x480).
• thermal: PNG format (640x480) with absolute temperature values (10-50°C).
• thermal_rgb: PNG format (640x480) with per-image normalization for enhanced local contrast.