We present the POLAR Traverse Dataset: a dataset of high-fidelity stereo pair
images of lunar-like terrain under polar lighting conditions designed to
simulate a straight-line traverse. Images from individual traverses with
different camera heights and pitches were recorded at 1 m intervals by moving a
suspended stereo bar across a test bed filled with regolith simulant and shaped
to mimic lunar south polar terrain. Ground truth geometry and camera position
information was also recorded. This dataset is intended for developing and
testing software algorithms that rely on stereo or monocular camera images,
such as visual odometry, for use in the lunar polar environment, as well as to
provide insight into the expected lighting conditions in lunar polar regions.

通过极地光照条件下的高保真度立体成对图像的 POLAR Traverse 数据集，模拟直线移动并记录不同相机高度和倾斜度的遍历图像，旨在开发和测试依赖立体或单眼相机图像的软件算法（如视觉里程计）在月球极地环境中的应用，并提供月球极地区域预期光照条件的洞察。