CitrusFarm Dataset

Description

CitrusFarm is a multimodal agricultural robotics dataset that provides both multispectral images and navigational sensor data for localization, mapping and crop monitoring tasks.

1. It was collected by a wheeled mobile robot in the Agricultural Experimental Station at the University of California Riverside in the summer of 2023.
2. It offers a total of nine sensing modalities, including stereo RGB, depth, monochrome, near-infrared and thermal images, as well as wheel odometry, LiDAR, IMU and GPS-RTK data.
3. It comprises seven sequences collected from three citrus tree fields, featuring various tree species at different growth stages, distinctive planting patterns, as well as varying daylight conditions.
4. It spans a total operation time of 1.7 hours, covers a total distance of 7.5 km, and constitutes 1.3 TB of data.

Update Frequency

NA

License

Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0).

Documentation

https://ucr-robotics.github.io/Citrus-Farm-Dataset/

Managed By

Autonomous Robots and Control Systems Lab

See all datasets managed by Autonomous Robots and Control Systems Lab.

Contact

Hanzhe Teng (hteng007@ucr.edu), Konstantinos Karydis (kkarydis@ece.ucr.edu)

How to Cite

CitrusFarm Dataset was accessed on DATE from https://registry.opendata.aws/citrus-farm.

Usage Examples

Tools & Applications

• Python script to download this dataset by Hanzhe Teng et al.
  
• Python scripts used in the data collection and post-processing by Hanzhe Teng et al.
  

Publications

• Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms by Hanzhe Teng, Yipeng Wang, Xiaoao Song and Konstantinos Karydis