UGV
MineInsight
Robotic landmine detection
Dual-view UGV and robotic-arm multispectral images and LiDAR scans of inert landmines and common objects on three vegetated tracks, with human-refined bounding boxes.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UGV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 10
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Metallic-square checkerboard for LWIR
Calibration data
Calibration reproducibility details are not reported.
Notes
RGB and VIS-SWIR intrinsics use Kalibr, LWIR uses MRT, base cameras use manufacturer parameters; targetless camera-LiDAR extrinsics are computed in base and arm groups. Release completeness is not asserted.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
RGB unavailable for Track 3 due to hardware failure.
Single late-autumn overcast campaign limits weather and seasonal diversity.
Human-supervised annotations may retain errors, particularly faint thermal signatures.
Cameras
base-monochrome
- Model
- Sevensense Core Research
- Setup
- Mono
- Count
- 5
- Effective cameras
- 5
- Modality
- Grayscale
- Resolution
- 720 x 540
- Rate
- 15 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 126 deg
- VFOV
- 92.4 deg
- Notes
- Five base cameras grouped by common module specification; hardware PTP synchronization.
arm-rgb
- Model
- AlliedVision Alvium 1800 U-240C
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 1916 x 1216
- Rate
- 15 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- 103.6 deg
- VFOV
- 76.7 deg
- Notes
- USB software synchronization relative to Orin; RGB unavailable for Track 3 due to hardware failure.
arm-vis-swir
- Model
- AlliedVision Alvium 1800 U-130
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Other
- Resolution
- 1296 x 1032
- Rate
- 15 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- 22.7 deg
- VFOV
- 18.2 deg
- Notes
- VIS-SWIR band 400–1700 nm; USB software synchronization relative to Orin.
arm-lwir
- Model
- Teledyne FLIR Boson 640
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Thermal
- Resolution
- 640 x 512
- Rate
- 30 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- 95 deg
- VFOV
- 76 deg
- Notes
- LWIR band 8000–13500 nm; software synchronization; faint thermal signatures can impair labeling.
IMUs
Not reported
GNSS
Not reported
LiDAR
Livox Mid-360
- Model or name
- Livox Mid-360
- Count
- 1
- Dimensions
- Not reported
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Livox AVIA
- Model or name
- Livox AVIA
- Count
- 1
- Dimensions
- Not reported
- Rate
- 10 Hz
- Channels
- Not reported
- Range
- Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Not reported
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
Available
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
Notice a specific issue after reviewing the page?
Report an inaccuracy