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Hyperspectral sensors have enjoyed widespread use in the realm of remotesensing; however, they must be adapted to a format in which they can beoperated onboard mobile robots. In this work, we introduce a first-of-its-kindsystem architecture with snapshot hyperspectral cameras and point spectrometersto efficiently generate composite datacubes from a robotic base. Our systemcollects and registers datacubes spanning the visible to shortwave infrared(660-1700 nm) spectrum while simultaneously capturing the ambient solarspectrum reflected off a white reference tile. We collect and disseminate alarge dataset of more than 500 labeled datacubes from on-road and off-roadterrain compliant with the ATLAS ontology to further the integration anddemonstration of hyperspectral imaging (HSI) as beneficial in terrain classseparability. Our analysis of this data demonstrates that HSI is a significantopportunity to increase understanding of scene composition from a robot-centriccontext. All code and data are open source online:https://river-lab.github.io/hyper_drive_data

Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments