List of Datasets

UAV

AgriLiRa4D

Agricultural UAV LiDAR/radar SLAM

Agricultural UAV flights in flat, hilly and terraced fields with 3D LiDAR, Doppler radar, IMU and a fiber-optic INS/RTK reference.

Metadata: Complete Metadata source documented Released 2025

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Quick facts

Vehicle type
UAV
Environment
Outdoor
Data origin
Real-world
Sensor count
3
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

Not reported

IMUs

1 reported

GNSS

Not reported

LiDAR

1 reported

Radar

1 reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF GNSS / INS FINS RTK · TJ-FINS70D 1 INS/RTK unit 100 Hz Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Hybrid
Accuracy notes
Device claims: better than 2 cm + 1 ppm (50% CEP); roll/pitch 0.01° and yaw 0.05° (1σ). These are not independently validated dataset trajectory bounds.
Reference notes
Single fiber-optic INS/RTK source distributed as ENU/FLU pose and LLH position products, not three independent references. ENU, FLU and FRD conventions must be respected.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Multiple corner reflectors

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Released CAD-derived extrinsics, factory LiDAR–IMU transform and manual corner-reflector refinement for LiDAR/radar. Public raw calibration sessions are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Agricultural vegetation and repetitive low-structure geometry challenge registration.

Altitude datums and configured flight speeds vary by terrain/mode.

Reference precision is stated as device specifications, not independently validated dataset error bounds.

Additional seasons, crops, night and weather diversity are future work.

Calibration parameters and noise settings are released, but raw corner-reflector recordings and independently measured timing error remain unknown. Native IMU component rates are distinct from the documented 200 Hz ROS output.

Cameras

Not reported

IMUs

LiDAR-integrated IMU

Model
IIM-42652
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

RoboSense Airy

Model or name
RoboSense Airy
Count
1
Dimensions
3
Rate
10 Hz
Channels
96
Range
Not reported

Radar

Mindcruise A1

Count
1
Released data
Point detections / point clouds
Frame rate
10 Hz
Doppler velocity
Available
Elevation angle
Available
Configured range
Not reported
Field of view
Not reported
Notes
Specified range up to 100 m. Point clouds include Doppler velocity, SNR and RCS; -35..20 m/s is a radial-velocity capability, not UAV speed.

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
zhan2025agrilira4d

BibTeX

@misc{zhan2025agrilira4d,
  author = {{Zhihao Zhan} and {Yuhang Ming} and {Shaobin Li} and {Jie Yuan}},
  title = {AgriLiRa4D: A Multi-Sensor UAV Dataset for Robust SLAM in Challenging Agricultural Fields},
  year = {2025},
  eprint = {2512.01753},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.01753v2}
}

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