UGV
RumexWeeds
Grassland weed detection
Sequential RGB images of Rumex weeds on Danish dairy grasslands, with synchronized GNSS, IMU and wheel odometry, whole-dataset bounding boxes and a small crop-level segmentation subset.
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
- 4
- Ground truth
- Not reported
- Calibration
- Parameters Only
- 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
- 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
metadata.json contains camera intrinsics, base_link transforms to camera/IMU/GNSS, and base_footprint to base_link. The camera was calibrated using the ROS tool and a checkerboard on a beam.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Segmentation masks cover 340 bounding-box crops from 100 images; they are not dense labels for all 5510 images.
Dense weeds can produce noisy bounding-box labels.
Manual driving centers weeds and extraction favors positive sequences, so coverage is not an unbiased full-field survey.
The GNSS supplies rough absolute position rather than precise navigation truth.
Cameras
rgb
- Model
- Basler ace 2
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 1920 x 1200
- Rate
- 5 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Single RGB stream; the clean sequences retain consecutive 5 FPS images.
IMUs
Xsens MTI-630
- Model
- Xsens MTI-630
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Navilock NL-8022MU
- Model or name
- Navilock NL-8022MU
- Count
- 1
- Rate
- Not reported
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Odometry
- Name
- Husky wheel odometry
- Count
- 1
- Notes
- Wheel-encoder-derived odometry is released as nav_msgs/Odometry dictionaries. Recording-time publishing frequency is 10 FPS; independent raw encoder output is not established.
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- CVAT 1.1
- Class count
- 2
Semantic segmentation
Available
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.
@article{guldenring2023rumexweeds,
title = {RumexWeeds: A grassland dataset for agricultural robotics},
author = {Güldenring, Ronja and van Evert, Frits K. and Nalpantidis, Lazaros},
year = {2023},
journal = {Journal of Field Robotics},
volume = {40},
pages = {1639--1656},
doi = {10.1002/rob.22196}
}
Dataset corrections
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