Abstract
This dataset provides synthetic event-camera data and ground-truth camera motion for autonomous lunar navigation, covering two mission phases: Low Lunar Orbit (LLO) and the Coasting phase of a descent trajectory. Synthetic image sequences were rendered at 100 Hz using ABRAM, a physics-based radiometric renderer for celestial bodies, using the 2015 SLDEM for the LLO and Chang’e 2 DEMs for the coasting. Event streams were then generated with the same temporal resolution (without frame interpolation) using the v2e emulator, with two empirically-tuned noise/threshold configurations selected according to the sequence’s phase angle (above/below 60$^∘$). Parameter textbar$PA|$ $>$ 60$^∘$ textbar$PA|$ $<$ 60$^∘$ Positive contrast threshold, $C$+ 0.25 0.15 Negative contrast threshold, $C-$ 0.25 0.15 Threshold mismatch, $σ$ 0.03 0.01 Photoreceptor cutoff frequency [Hz] 10 3 Leak event rate [Hz] 0.1 0.05 Shot noise rate [Hz] 0.5 0.1 ~ The dataset contains 258 sequences: 164~LLO sequences in moon_LLO/~and 94 Coasting sequences in moon_COA/. Each sequence includes an~events.aedat4 file and a yml folder with the metadata associated with each rendered synthetic frame. A shared camera.yml file provides the camera intrinsics common to every sequence.Sequences in both LLO and COA folders are divided in tiles, based on the moon region and are denominated as:~moon_[TYPE]###dt10##[N/S]### where: [TYPE]### identifies the sequence category and number (C## for coasting and~S## for LLO) dt10 indicates the timestamp resolution of synthetic images used to generate the event stream (which coincides with event stream resolution) ##[N/S]### specifies the latitude (+/- 90) and longitude (0/360) of the first pose (e.g.,~58N_123 is at latitude 58 N and longitude 123)
Paolo Lunghi
Associate Professor of Space Systems
Aiming for autonomous Guidance, Navigation, and Control for spacecraft.