README.md

metadata

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: AI4MARS - Terrain-Aware Autonomous Driving on Mars
size_categories:
  - 100K<n<1M
source_datasets:
  - original
task_categories:
  - image-segmentation
task_ids:
  - semantic-segmentation
paperswithcode_id: ai4mars
dataset_info:
  features:
    - name: image
      dtype: image
    - name: label_mask
      dtype: image
    - name: rover_mask
      dtype: image
    - name: range_mask
      dtype: image
    - name: has_masks
      dtype: bool
    - name: has_labels
      dtype: bool
  splits:
    - name: train
      num_bytes: 6187608143
      num_examples: 18130
    - name: test_min1
      num_bytes: 109623610
      num_examples: 322
    - name: test_min2
      num_bytes: 109462392
      num_examples: 322
    - name: test_min3
      num_bytes: 109183059
      num_examples: 322
  download_size: 6465888396
  dataset_size: 6515877204
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/train-*
      - split: test_min1
        path: data/test_min1-*
      - split: test_min2
        path: data/test_min2-*
      - split: test_min3
        path: data/test_min3-*

Taken from the kaggle repository here.

AI4Mars Dataset

A dataset for terrain classification on Mars, specifically focused on Curiosity (MSL) rover data.

Dataset Structure

The dataset contains high-resolution Mars surface images with corresponding semantic segmentation masks for terrain classification.

Features

• image: Original EDR (Engineering Data Record) images from Mars
• label_mask: Semantic segmentation masks with terrain labels
• rover_mask: Binary masks (1 = rover visible)
• range_mask: Binary distance masks (1 = beyond 30m)
• has_masks: Boolean indicating presence of rover and range masks
• has_labels: Boolean indicating presence of segmentation labels

Labels

Terrain classes are encoded as RGB values in the segmentation masks:

• (0,0,0): Soil
• (1,1,1): Bedrock
• (2,2,2): Sand
• (3,3,3): Big rock
• (255,255,255): No label/null

Data Splits

• Train: Crowdsourced labels with:
  • Minimum 3 labeler agreement
  • 2/3 agreement threshold per pixel
  • 30m distance cutoff
  • Rover regions masked out
• Test: Expert-validated labels with:
  • 100% agreement requirement
  • Three versions available based on labeler agreement thresholds

Image Products

All image products share matching base names with different extensions:

1. EDR Images (.JPG): Raw Mars surface images
2. MXY Files (.png): Rover mask products
3. RNG Files (.png): 30-meter range mask products

Notes

• Current version (0.1) only includes Curiosity (MSL) data
• MER (Mars Exploration Rover) data processing is work in progress
• Range masks are derived from PDS (Planetary Data System) products