List of Datasets

Other

Oxford Forest

Dense-forest lidar place recognition and localization

Forest backpack recordings with released lidar, camera and IMU streams and SLAM-derived poses, across Finland, Switzerland and the UK. Exact stream specifications and independent reference accuracy remain unknown.

Metadata: Complete Metadata curator reviewed Released 2024

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

Code

Not reported

Quick facts

Vehicle type
Other
Environment
Outdoor
Data origin
Real-world
Sensor count
4
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

1 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

2 reported

Radar

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 LiDAR SLAM 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.
Derived
Accuracy notes
No independent accuracy established. 10 Hz estimator cadence, 10 cm/1° cycle threshold, 20 cm ICP residual and 1 m correction cutoff are algorithm settings.
Reference notes
Official release lists slam_poses.csv with timestamp, xyz and quaternion columns from VILENS/pose-graph estimation. Coverage, cadence, frames and independent accuracy remain unestablished.

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

Official release provides calibration files separately for the two lidar models; raw calibration recording coverage is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Reference uses SLAM estimates without established independent global accuracy; release pose coverage/rate unspecified.

Occlusion/clutter, large viewpoint differences and diminishing scan overlap reduce reliable geometric verification.

Figure 5 fourth subplot says WildPlace K-04 although text/caption identify four forest sites including Forest of Dean.

Raw camera/IMU streams are documented, but exact sensor specifications, recording totals and any legged-robot raw release remain unestablished. Four forest folders do not establish a four-sequence count.

Cameras

Camera 1

Model
Not reported
Setup
Multi Camera
Count
1
Effective cameras
1
Modality
Not Reported
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Official raw ROS bags include camera image topics /alphasense_driver_ros/cam_{number}/compressed. Physical model, count, image modality, resolution and cadence are not established.

IMUs

Released IMU stream

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Hesai XT-32

Model or name
Hesai XT-32
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Hesai QT-64

Model or name
Hesai QT-64
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Radar

Not reported

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
oh2024forestv2

BibTeX

@misc{oh2024forestv2,
 title={Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests},
 author={Oh, Haedam and Chebrolu, Nived and Mattamala, Matias and Freißmuth, Leonard and Fallon, Maurice},
 year={2024},
 eprint={2403.14326},
 archivePrefix={arXiv},
 note={Selected version 2, dated 30 August 2024}
}

Dataset corrections

Notice a specific issue after reviewing the page?

Report an inaccuracy