Data

The data for this competition will be released under the CC BY-NC-SA 4.0 license on Zenodo. 

Contents

The dataset consists of 89 landing sequences, each representing a descend towards a different region of the Moon at different times, resulting in challenging lighting conditions and a variety of surface features. The lander is moving from a high gate at about 2-3km to a low gate at about 150m (no touch down) and might perform any number of maneuvers in between.

Our sequences are split into two categories: train and test. Each sequence is available as a compressed numpy-file (.npz-file). After loading such a file, for example

sequence = np.load('0000.npz')

you can access the sequence like a dictionary to obtain the following information:

• events: A sequence of (x,y,p,t) entries, encoding events recorded by a simulated event-camera
  • x: event coordinate [0, 199]
  • y: event coordinate [0, 199]
  • p: polarity [True, False]
  • t: timestamp [µs]
• timestamps: A sequence of timestamps related to the landers motion [s]
• traj: The trajectory of lander for each of the timestamps as a state-vector (x,y,z,vx,vy,vz,phi,theta,psi,p,q,r)
  • x,y,z: position in global frame (the attitude z is given negative by convention) [m]
  • vx, vy, vz: velocity vector [m/s]
  • phi, theta, psi: roll, pitch, jaw Euler angles [rad]
  • p, q, r: corresponding angular velocity [rad/s]
• rangemeter: A sequence (t, d) that represents the distance from the camera center to the point on the Moon surface corresponding to the pixel [100,100] 
  • t: timestamps [s]
  • d: distance [m]

The sequences in train have full information about the flight path of the lander and can be used as examples to gain insights into the general problem. The sequences in test have information about position (x,y,z) and velocity (vx,vy,vz) masked out using nan.

The challenge is to reconstruct the missing information and submit it back to us. You can find more details about this process under the submission rules for this challenge.

Your submission will undergo validation and scoring on a subset of the test data to grant you a place in the public leaderboard. After the submission period of the competition is over, your submission will be re-evaluated on the full test data to determine the winning team. More about the computation of the score can be found under scoring.

Preview

Here are some examples of the event-streams that you can find in the data.

Getting started

We provide all teams with a starter-notebook that supports you in a variety of tasks, such as

• loading the data
• visualization
• preparing submissions 

Please feel free to clone the related code-repository from our official github.