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The LuSNAR dataset, created by the Institute of Space Application Engineering and Technology and the Key Laboratory of Space Utilization of the Chinese Academy of Sciences, is a multi‑task, multi‑scenario lunar surface dataset. It contains nine Unreal Engine‑based simulated lunar scenes, each divided by terrain roughness and object density, and provides high‑resolution stereo image pairs, panoramic semantic labels, depth maps, and point clouds. The dataset is intended to support development and validation of perception and navigation algorithms, suitable for 2‑D/3‑D semantic segmentation, visual SLAM, LiDAR SLAM, stereo matching, and 3‑D reconstruction, focusing on autonomous perception and navigation for lunar exploration.
