  We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI)
dataset, recorded on Mt. Etna, Sicily, an environment analogous to the Moon and
Mars, using a hand-held sensor suite with attributes suitable for
implementation on a space-like mobile rover. The environment is characterized
by challenging conditions regarding both the visual and structural appearance:
severe visual aliasing poses significant limitations to the ability of visual
SLAM systems to perform place recognition, while the absence of outstanding
structural details, joined with the limited Field-of-View of the utilized
Solid-State LiDAR sensor, challenges traditional LiDAR SLAM for the task of
pose estimation using point clouds alone. With this data, that covers more than
4 kilometers of travel on soft volcanic slopes, we aim to: 1) provide a tool to
expose limitations of state-of-the-art SLAM systems with respect to
environments, which are not present in widely available datasets and 2)
motivate the development of novel localization and mapping approaches, that
rely efficiently on the complementary capabilities of the two sensors. The
dataset is accessible at the following url: https://rmc.dlr.de/s3li_dataset
