List of Datasets

UGV

HortiMulti

Localisation and mapping in horticultural polytunnels

Cross-season strawberry and raspberry polytunnel robot recordings with cameras, LiDAR, inertial data and reference trajectories.

Metadata: Complete Metadata needs review

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

Download

Not reported

Paper

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Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV
Environment
Not reported
Data origin
Real-world
Sensor count
9
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

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

Cameras

4 reported

IMUs

1 reported

GNSS

1 reported

LiDAR

2 reported

Radar

Not reported

Pitot tube

Not 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 Other Not reported Not reported Not reported Unknown 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.
Unknown
Accuracy notes
Landmark validation RMSE of 0.0655 m is not a universal trajectory accuracy.
Reference notes
Poly-TagSLAM combines LiDAR-inertial odometry and tag observations; strawberry survey-constraint scope is inconsistent across the PDF. Trimble S5 Total Station surveys landmark positions; it is reference apparatus rather than an input sensor stream.
Not reported LiDAR SLAM Not reported Not reported Not reported Partial · Multi-Tunnel Place Recognition Sequences 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.
Derived
Reference notes
LIO-SAM references are intended for place recognition evaluation, rather than independent per-frame localisation validation.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

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

Parameters only

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

Notes

Session-specific calibration files accompany recordings; use the matching session because configurations may vary. The PDF's TF delivery claim conflicts with current release documentation.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Dynamic foliage, specular tunnel covers, repetitive rows and unreliable GNSS complicate localisation.

Side-camera coverage varies by sequence.

Cameras

forward-stereo

Model
Basler ace U acA2040-55uc
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
1936 x 1216
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Forward stereo pair, 140 mm baseline; active in all sequences.

side-cameras

Model
Basler ace U acA2040-55uc
Setup
Mono
Count
2
Effective cameras
2
Modality
Rgb
Resolution
1936 x 1216
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Angled side views; not enabled in every sequence.

IMUs

MicroStrain 3DM-GX5-AHRS

Model
MicroStrain 3DM-GX5-AHRS
Count
1
Accel / gyro
Not reported

GNSS

u-blox F9P GPS

Model or name
u-blox F9P GPS
Count
1
Rate
8 Hz
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

Ouster OS0-64

Model or name
Ouster OS0-64
Count
1
Dimensions
3
Rate
10 Hz
Channels
64
Range
Not reported

Velodyne VLP-16

Model or name
Velodyne VLP-16
Count
1
Dimensions
3
Rate
10 Hz
Channels
16
Range
Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Odometry

Name
Wheel odometry
Count
1
Rate
25 Hz
Notes
Released as nav_msgs/Odometry; encoder tick streams are not established.

Annotations

Reported annotation availability and task support.

Availability
Available
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
Not reported

BibTeX

Not reported

Dataset corrections

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