List of Datasets

UGV

TEMPO-VINE

Sensor fusion, SLAM and place recognition

Multi-temporal rover recordings in trellis and pergola vineyards with heterogeneous LiDAR, RGB-D, inertial and RTK-GNSS data.

Metadata: Complete Metadata needs review

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV
Environment
Outdoor
Data origin
Real-world
Sensor count
7
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

2 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 GNSS / INS GNSS-RTK and AHRS fusion Not reported 5 Hz 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
Table II receiver precision specifications are not a validation of fused trajectory accuracy.
Reference notes
Robot-center translation and quaternion in local ENU, with a geo-referenced counterpart in TUM format.

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

Sensor parameter YAML files and sensor-to-robot-center extrinsics are specified.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Not reported

Cameras

rgbd

Model
Intel Realsense D435
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
640 x 480
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Aligned RGB and depth images; Table II reports a 30 Hz sensor frequency.

IMUs

AHRS

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

GNSS

Swift Navigation Duro

Model or name
Swift Navigation Duro
Count
1
Rate
5 Hz
GNSS type
RTK
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

Livox Mid-360

Model or name
Livox Mid-360
Count
1
Dimensions
3
Rate
10 Hz
Channels
1
Range
40 m

Velodyne Puck VLP-16

Model or name
Velodyne Puck VLP-16
Count
1
Dimensions
3
Rate
10 Hz
Channels
16
Range
100 m

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Wheel encoder

Name
Motor-integrated wheel encoders
Count
1

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
Not reported

BibTeX

Not reported

Dataset corrections

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