Downloads

The POLAR Traverse Dataset can be downloaded in its entirety or as one of four standalone datasets corresponding to four views for which data was collected. These views differ in the orientation of the cameras along the test bed and the angle of incidence of the light. Each dataset is described in detail below, alongside example images from each view. Note that these images have been cropped from their original size for display.

Full Dataset

The full dataset, including the ground truth data, is available for download [.zip, 13.4 GB].

Ground Truth

The ground truth FARO scans can be downloaded separately [.zip, 533.4 MB].

This includes four raw scan files converted to .ply format, along with a processed and registered point cloud (also in .ply format) that combines the four scans.

Ground truth position information has been estimated using COLMAP (see the README for more information) and is included in the individual view datasets as well as the full dataset. Approximate poses are also provided based on knowledge of the camera placements during testing.

Individual View Datasets

The four individual view datasets are described below and can be downloaded separately. These four datasets include the camera calibrations and positions but do not contain the dense LiDAR scans. For the sake of data collection, "forward" and "reverse" were used to denote the directions along the test bed that the cameras face; more information on how these directions relate to the ground truth scans can be found in the README.

View 1
	Description: This view consists of lighting at a 20 degree angle to the direction in which the cameras are facing. The cameras are facing in the "forward" direction along the test bed. At the start of the run, a flat area, mound, and crater are visible. More craters become visible in the terrain along the length of the test bed, and the amount of light decreases as the cameras move away from the light source. There is a human-made object on the terrain in the background of this scene. Download: 3.2 GB [.zip]
View 2
	Description: This view consists of lighting at a 150 degree angle to the direction in which the cameras are facing. The cameras are facing in the "forward" direction along the test bed. The terrain in this scene is consistently backlit. At the start of the run, a mound and crater are visible. More craters become visible and the amount of light increases as the cameras move along the test bed. There is a human-made object on the terrain in the background of this scene. Download: 3.2 GB [.zip]
View 3
	Description: This view consists of lighting at a 20 degree angle relative to the direction in which the cameras are facing. The cameras are facing in the "reverse" direction along the test bed. At the start of the run, one crater is slightly visible to the side of the scene. More craters become visible and the amount of light decreases as the cameras move along the test bed. Download: 3.3 GB [.zip]
View 4
	Description: This view consists of lighting at a 150 degree angle relative to the direction in which the cameras are facing. The cameras are facing in the "reverse" direction along the test bed. The terrain is consistently backlit throughout the scene. At the start of the run, a crater is visible to the side. More craters become visible and the amount of light increases as the cameras move along the test bed. Download: 3.1 GB [.zip]