AI4MARS: A Dataset for Terrain-Aware Autonomous Driving on Mars

This dataset was built for training and validating terrain classification models for Mars, which may be useful in future autonomous rover efforts. It consists of ~326K semantic segmentation full image labels on 35K images from Curiosity, Opportunity, and Spirit rovers, collected through crowdsourcing. Each image was labeled by 10 people to ensure greater quality and agreement of the crowdsourced labels. It also includes ~1.5K validation labels annotated by the rover planners and scientists from NASA’s MSL (Mars Science Laboratory) mission, which operates the Curiosity rover, and MER (Mars Exploration Rovers) mission, which operated the Spirit and Opportunity rovers.

Data and Resources

Additional Info

Field Value
Maintainer Robert Michael Swan
Last Updated July 22, 2025, 14:23 (UTC)
Created March 31, 2025, 17:38 (UTC)
accessLevel public
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harvest_source_title DNG Legacy Data
identifier https://data.nasa.gov/api/views/cykx-2qix
issued 2021-05-11
landingPage https://data.nasa.gov/dataset/ai4mars-a-dataset-for-terrain-aware-autonomous-driving-on-mars
modified 2023-01-31
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publisher NASA JPL
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