# Synthetic Lunar Terrain: A Multimodal Open Dataset for Training and Evaluating Neuromorphic Vision Algorithms

arXiv: https://arxiv.org/abs/2408.16971 · HTML: https://mlsanity.com/paper/2408.16971/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 9 references that are in the map.
- First posted on arXiv 30 Aug 2024.

## Builds on (most cited first, 1 of 1)

- [Neuromorphic Computing and Sensing in Space](https://mlsanity.com/paper/2212.05236/) (2022)

## Built on by (most cited first, 2 of 2)

- [LAND: A Longitudinal Analysis of Neuromorphic Datasets](https://mlsanity.com/paper/2602.15973/) (2026)
- [LLaVA-LE: Large Language-and-Vision Assistant for Lunar Exploration](https://mlsanity.com/paper/2603.24696/) (2026)

## Abstract (arXiv)

Synthetic Lunar Terrain (SLT) is an open dataset collected from an analogue test site for lunar missions, featuring synthetic craters in a high-contrast lighting setup. It includes several side-by-side captures from event-based and conventional RGB cameras, supplemented with a high-resolution 3D laser scan for depth estimation. The event-stream recorded from the neuromorphic vision sensor of the event-based camera is of particular interest as this emerging technology provides several unique advantages, such as high data rates, low energy consumption and resilience towards scenes of high dynamic range. SLT provides a solid foundation to analyse the limits of RGB-cameras and potential advantages or synergies in utilizing neuromorphic visions with the goal of enabling and improving lunar specific applications like rover navigation, landing in cratered environments or similar.