---
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: 6187608143.0
    num_examples: 18130
  - name: test_min1
    num_bytes: 109623610.0
    num_examples: 322
  - name: test_min2
    num_bytes: 109462392.0
    num_examples: 322
  - name: test_min3
    num_bytes: 109183059.0
    num_examples: 322
  download_size: 6465888396
  dataset_size: 6515877204.0
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](https://www.kaggle.com/datasets/yash92328/ai4mars-terrainaware-autonomous-driving-on-mars).

# 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