MARE: An Open-Source Lunar Rover Simulator with Shadow Ground Truth for Perception and Autonomy

Raúl Castilla-Arquillo, Miguel Olivares-Mendez · 2026 · arXiv

DOI: 10.48550/arXiv.2610.28465 · open-access PDF

Abstract

Lunar surface exploration increasingly relies on autonomous rovers that must perceive and traverse unstructured terrain under extreme illumination conditions. Near the lunar poles, low sun elevations produce long, high-contrast shadows that challenge stereo vision, terrain segmentation, and localization. Developing perception and navigation algorithms for these conditions requires large amounts of sensor data with accurate ground truth, which field campaigns and analog facilities can only provide at high cost and with limited variety. This paper presents MARE (Modular Autonomy and Rendering En

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