---
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:
- 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][paper] is a planetary rover dataset collected in the Bardenas semi-desert in Spain.
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 a **partial reupload**, containing approximately 36,000 RGB, depth, and thermal images from a Realsense camera and thermal sensor.
The [full dataset][dataset] includes *rosbags* and additional data such as inertial data, force-torque recordings, GNSS, maps, etc.

For more information about the dataset and its creation, please refer to the [dataset website][dataset] and the [paper][paper].

## Supported Tasks

The dataset can be used for, among others:

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

A labeled subset of synchronized and aligned images is available [on Zenodo][labeled].

## 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.

For all sensors and formats as well as the map and weather data, please refer to the [full dataset][dataset].

## 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.

## Citation

Gerdes, L., Wiese, T., Castilla Arquillo, R. *et al.* **BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset**. *Sci Data* **11**, 1054 (2024). <https://doi.org/10.1038/s41597-024-03881-1>

```bibtex
@article{Baseprod,
        author = {Levin Gerdes and Tim Wiese and Raúl Castilla Arquillo and Laura Bielenberg and Martin Azkarate and Hugo Leblond and Felix Wilting and Joaquín Ortega Cortés and Alberto Bernal and Santiago Palanco and Carlos Pérez del Pulgar},
        doi = {10.1038/s41597-024-03881-1},
        issn = {2052-4463},
        issue = {1},
        journal = {Scientific Data},
        month = {9},
        pages = {1054},
        title = {BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset},
        volume = {11},
        url = {https://www.nature.com/articles/s41597-024-03881-1},
        year = {2024},
    }
```

[dataset]: https://doi.org/10.57780/esa-xxd1ysw
[paper]: https://doi.org/10.1038/s41597-024-03881-1
[labeled]: https://doi.org/10.5281/zenodo.15496884