List of Datasets

UAV, Handheld, Other

TreeScope

Agricultural LiDAR segmentation and tree diameter/biomass estimation

Forest and orchard scans from aerial and mobile platforms pair semantic labels with independent field-measured tree geometry.

Metadata: Complete Metadata source documented Released 2023

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

Supplementary

Not reported

Quick facts

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

Sensor overview

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

Cameras

Not reported

IMUs

1 reported

GNSS

Not reported

LiDAR

3 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.
Other Manual annotation Manual field tree measurements Not reported Not reported Partial 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.
External
Reference notes
Tree diameters, heights and profiles; not platform pose. Orchard measurement height differs, and UCM-0822 has no measured diameters.
6DoF LiDAR SLAM Faster-LIO processed trajectory 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
Reference notes
Processed bag odometry uses input LiDAR/IMU and is not independent external trajectory truth.

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
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Aerial, mobile and historical WSF-19 LiDAR configurations are alternatives, not one simultaneous three-LiDAR rig. Raw camera/GNSS delivery is not established.

Three-class point labels and independent field tree geometry have different scopes. UCM-0822 lacks diameter measurements and orchard measurement heights differ.

Faster-LIO odometry is derived from recorded inputs. Survey measurements do not provide independent platform poses, and aggregate duration, storage and recording count remain unknown.

Cameras

Not reported

IMUs

VectorNav VN-100

Model
VectorNav VN-100
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Ouster OS1-64 Rev 6

Model or name
Ouster OS1-64 Rev 6
Count
1
Dimensions
3
Rate
Not reported
Channels
64
Range
Not reported

Ouster OS0-128 Rev 6

Model or name
Ouster OS0-128 Rev 6
Count
1
Dimensions
3
Rate
Not reported
Channels
128
Range
Not reported

Velodyne VLP-16

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

Radar

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
HDF5 labels and JSON tree geometry/metadata
Class count
3
Semantic segmentation Available
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
cheng2023treescope

BibTeX

@misc{cheng2023treescope,
  author = {Derek Cheng and Fernando Cladera and Ankit Prabhu and Xu Liu and Alan Zhu and P. Corey Green and Reza Ehsani and Pratik Chaudhari and Vijay Kumar},
  title = {TreeScope: An Agricultural Robotics Dataset for LiDAR-Based Mapping of Trees in Forests and Orchards},
  year = {2023},
  url = {https://arxiv.org/abs/2310.02162v1}
}

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