We report on an effort that led to POLAR3D, a set of digital assets that enhance the POLAR dataset of stereo images generated by NASA to mimic lunar lighting conditions. Our contributions are twofold. First, we have annotated each photo in the POLAR dataset, providing approximately 23 000 labels for rocks and their shadows. Second, we digitized several lunar terrain scenarios available in the POLAR dataset. Specifically, by utilizing both the lunar photos and the POLAR's LiDAR point clouds, we constructed detailed obj files for all identifiable assets. POLAR3D is the set of digital assets comprising of rock/shadow labels and obj files associated with the digital twins of lunar terrain scenarios. This new dataset can be used for training perception algorithms for lunar exploration and synthesizing photorealistic images beyond the original POLAR collection. Likewise, the obj assets can be integrated into simulation environments to facilitate realistic rover operations in a digital twin of a POLAR scenario. POLAR3D is publicly available to aid perception algorithm development, camera simulation efforts, and lunar simulation exercises.POLAR3D is publicly available at https://github.com/uwsbel/POLAR-digital.

翻译：我们报告了一项促成POLAR3D生成的工作，这是一组数字资产，用于增强NASA为模拟月球光照条件而生成的立体图像POLAR数据集。我们的贡献有两方面。首先，我们对POLAR数据集中的每张照片进行了标注，提供了约23000个岩石及其阴影的标签。其次，我们将POLAR数据集中可用的若干月球地形场景数字化。具体而言，通过利用月球照片和POLAR的LiDAR点云，我们为所有可识别资产构建了详细的obj文件。POLAR3D是一组数字资产，包含与月球地形场景数字孪生相关联的岩石/阴影标签和obj文件。这一新数据集可用于训练月球探测的感知算法，并合成超出原始POLAR集合范围的照片级真实图像。同样地，obj资产可集成到仿真环境中，以促进在POLAR场景数字孪生中实现逼真的巡视器操作。POLAR3D已公开可用，以助力感知算法开发、相机仿真工作及月球模拟演练。POLAR3D公开访问地址为：https://github.com/uwsbel/POLAR-digital。