WHU-PA3D: Qaidam Basin Planetary Analogous-3D Dataset
Accurate localization and detailed environmental perception are critical for planetary exploration, particularly in unstructured and complex terrains. To support such efforts, we present the WHU-PA3D dataset, a planetary analog dataset collected in the Mars-like Qaidam Basin. This dataset includes e...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-07-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/725/2025/isprs-archives-XLVIII-G-2025-725-2025.pdf |
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| Summary: | Accurate localization and detailed environmental perception are critical for planetary exploration, particularly in unstructured and complex terrains. To support such efforts, we present the WHU-PA3D dataset, a planetary analog dataset collected in the Mars-like Qaidam Basin. This dataset includes eight handheld LiDAR point cloud sequences and seven UAV image sequences, documenting diverse terrains such as yardangs, water-eroded landscapes, and canyons. It integrates multimodal data, including RGB imagery, LiDAR, and IMU measurements, offering a realistic testing platform for SLAM and image classification algorithms. Benchmarking experiments reveal the strengths and limitations of existing algorithms in handling complex and unstructured environments. The WHU-PA3D dataset provides a useful reference for planetary surface localization, geological analysis, and mission planning. |
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| ISSN: | 1682-1750 2194-9034 |