Robotic Lava Tube Mapping and Multimodal Data Collection Using Quadruped and LiDAR

DOI:10.4121/778253cc-3193-4f66-bc13-03b80380424e.v1
The DOI displayed above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
DOI: 10.4121/778253cc-3193-4f66-bc13-03b80380424e

Datacite citation style

Hidding, Arwin; Henriette Bier; Peternel, Luka; Becoy, Alexander James; Romio, Francesco et. al. (2025): Robotic Lava Tube Mapping and Multimodal Data Collection Using Quadruped and LiDAR. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/778253cc-3193-4f66-bc13-03b80380424e.v1
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

Dataset

Delft University of Technology logo

Geolocation

Grotta di Monte Intraleo in Sicily
lat (N): 37.72035212979759
lon (E): 14.909336836895596
view on openstreetmap

Time coverage

18-11-2024 to 23-11-2024

Licence

CC BY 4.0

Interoperability

As part of the Rhizome 2.0 project—an initiative investigating the development of human habitats in Martian lava tubes—we conducted an extensive robotic mapping mission inside the Grotta di Monte Intraleo, a terrestrial lava tube in Sicily serving as an analogue site. This dataset supports the exploration of construction and habitation strategies in similarly structured Martian environments.

The dataset includes multi-modal mapping and environmental data collected using manual and robotic scanning techniques. Specifically, the data comprises:

  • High-resolution floor reference images: Manually collected photographs of the lava tube floor were taken at a constant height and under controlled illumination to serve as visual calibration and textural references for scale and surface feature analysis.
  • 3D mesh data from mobile scanning: Phone-based 3D scans were conducted using the Scaniverse app, producing .obj files for rapid spatial documentation.
  • LiDAR scans: High-density LiDAR point clouds of the tube interior provide accurate geometric representations.
  • Robot FPV video footage: A robotic quadruped equipped with a forward-facing camera collected immersive, first-person video while navigating the cave, providing visual context and documenting terrain traversal.
  • SLAM-based navigation maps: Simultaneous Localization and Mapping (SLAM) data recorded during robotic traversal were used to generate autonomous navigation maps.
  • Ambient environmental data: Time-synchronized logs from onboard sensors recorded temperature, humidity, and light levels, contributing to environmental characterization of the site.
  • System interface recordings: Screen captures of the framework’s user interface during data acquisition sessions offer insights into the control, mapping, and visualization tools used throughout the mission.

Data collection adhered to all local regulations, and care was taken to minimize impact on the natural environment of the cave. This dataset is intended to support reproducible research in robotic mapping, autonomous navigation, and extraterrestrial habitat design.

History

  • 2025-05-13 first online, published, posted

Publisher

4TU.ResearchData

Format

PCD, JPG, MP4, 3DM, OBJ, HEIC, CSV, MKV, DATA, PGM, POSEGRAPH, YAML

Funding

  • European Space Agency (ESA) (grant code 4000141141/23/I-EF)
  • Erasmus+ [more info...] Erasmus+
  • TU Delft Robotics Institute [more info...] TU Delft Robotics Institute
  • Vertico [more info...] Vertico
  • Moonshot TU Delft Moonshot TU Delft

Organizations

TU Delft, Faculty of Architecture and the Built Environment, Department of Architecture, Building Knowledge
TU Delft, Faculty of Mechanical Engineering, Department of Cognitive Robotics, Human-Robot Interaction
University of Palermo
Club Alpino Italiano (CAI) - Sezione di Catania
Associazione Naturalistica I Nebrodi
Istituto Nazionale di Geofisica e Vulcanologia (INGV), Rome, Italia

DATA

Files (1)