---
language:
- en
license: cc0-1.0
license_name: cc0-1.0
license_link: https://creativecommons.org/publicdomain/zero/1.0/
tags:
- computer-vision
- autonomous-driving
- mars
- semantic-segmentation
- robotics
- space
annotations_creators:
- crowdsourced
- expert-generated
language_creators:
- found
language_details: en-US
pretty_name: 'BASEPROD: The Bardenas SemiDesert Planetary Rover Dataset'
size_categories:
- 10K<n<100K
source_datasets:
- original
task_categories:
- image-segmentation
task_ids:
- semantic-segmentation
dataset_info:
  features:
  - name: color
    dtype: image
  - name: depth
    dtype: image
  - name: depth_16bit
    dtype: image
  - name: thermal
    dtype: image
  - name: thermal_rgb
    dtype: image
  splits:
  - name: train
    num_bytes: 52990925137.267
    num_examples: 31707
  download_size: 68037489879
  dataset_size: 52990925137.267
configs:
- config_name: default
  data_files:
  - split: train
    path: data/train-*
---

# 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](https://roboshare.esa.int/datasets/index.php/baseprod/)

## 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.