DOI: 10.5281/zenodo.6507863
title: Tango Spacecraft Dataset for Region of Interest Estimation and Semantic Segmentation

description: <strong>Reference Paper: </strong> <strong>M. Bechini, M. Lavagna, P. Lunghi, Dataset generation and validation for spacecraft pose estimation via monocular images processing, Acta Astronautica 204 (2023) 358–369</strong> M. Bechini, P. Lunghi, M. Lavagna. "Spacecraft Pose Estimation via Monocular Image Processing: Dataset Generation and Validation". In 9th European Conference for Aeronautics and Aerospace Sciences (EUCASS) <strong>General Description:</strong> The "<em>Tango Spacecraft Dataset for Region of Interest Estimation and Semantic Segmentation</em>" dataset here published should be used for Region of Interest (ROI) and/or semantic segmentation tasks. It is split into 30002 train images and 3002 test images representing the Tango spacecraft from Prisma mission, being the largest publicly available dataset of synthetic space-borne noise-free images tailored to ROI extraction and Semantic Segmentation tasks (up to our knowledge). The label of each image gives, for the Bounding Box annotations, the filename of the image, the ROI top-left corner (minimum x, minimum y) in pixels, the ROI bottom-right corner (maximum x, maximum y) in pixels, and the center point of the ROI in pixels. The annotation are taken in image reference frame with the origin located at the top-left corner of the image, positive x rightward and positive y downward. Concerning the Semantic Segmentation, RGB masks are provided. Each RGB mask correspond to a single image in both train and test dataset. The RGB images are such that the R channel corresponds to the spacecraft, the G channel corresponds to the Earth (if present), and the B channel corresponds to the background (deep space). Per each channel the pixels have non-zero value only in correspondence of the object that they represent (Tango, Earth, Deep Space). More information on the dataset split and on the label format are reported below. <strong>Images Information:</strong> The dataset comprises 30002 synthetic grayscale images of Tango spacecraft from Prisma mission that serves as train set, while the test set is formed by 3002 synthetic grayscale images of Tango spacecraft from Prisma mission in PNG format. About 1/6 of the images both in the train and in the test set have a non-black background, obtained by rendering an Earth-like model in the raytracing process used to define the images reported. The images are noise-free to increase the flexibility of the dataset. The illumination direction of the spacecraft in the scene is uniformly distributed in the 3D space in agreement with the Sun position constraints. <br> <strong>Labels Information:</strong> Labels for the bounding box extraction are here provided in separated JSON files. The files are formatted per each image as in the following example: filename : tango_img_1 # name of the image to which the data are referred rol_tl : [x, y] # ROI top-left corner (minimum x, minimum y) in pixels roi_br : [x, y] # ROI bottom-right corner (maximum x, maximum y) in pixels roi_cc : [x, y] # center point of the ROI in pixels Notice that the annotation are taken in image reference frame with the origin located at the top-left corner of the image, positive x rightward and positive y downward.To make the usage of the dataset easier, both the training set and the test set are split in two folders containing the images with earth as background and without background. Concerning the Semantic Segmentation Labels, they are provided as RGB masks named as "filename_mask.png" where "filename" is the filename of the image of the training set or the test set to which a specific mask is referred. The RGB images are such that the R channel corresponds to the spacecraft, the G channel corresponds to the Earth (if present), and the B channel corresponds to the background (deep space). Per each channel the pixels have non-zero value only in correspondence of the object that they represent (Tango, Earth, Deep Space). <strong>VERSION CONTROL</strong> v1.0: This version contains the dataset (both train and test) of full scale images with ROI annotations and RGB masks for Semantic Segmentation tasks. These images have width=height=1024 pixels. The position of tango with respect to the camera is randomly selected from a uniform distribution, but it is ensured the full visibility in all the images. Note: this dataset contains the same images of the <em>"Tango Spacecraft Wireframe Dataset Model for Line Segments Detection"</em> v2.0 full-scale (DOI: https://doi.org/10.5281/zenodo.6372848) and also "<em>Tango Spacecraft Dataset for Monocular Pose Estimation</em>" v1.0 (DOI: https://doi.org/10.5281/zenodo.6499007) and they can be used together by combining the annotations of the relative pose and the ones of the reprojected wireframe model of Tango, with also the ones of the ROI. <strong>These three datasets give the most comprehensive dataset of space borne synthetic images ever published</strong> (up to our knowledge).