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CitrusFarm Dataset

agriculture computer vision IMU lidar localization mapping robotics


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



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


Managed By

Autonomous Robots and Control Systems Lab

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


Hanzhe Teng (, Konstantinos Karydis (

How to Cite

CitrusFarm Dataset was accessed on DATE from

Usage Examples

Tools & Applications

Resources on AWS

  • Description
    CitrusFarm Dataset sequences
    Resource type
    S3 Bucket
    Amazon Resource Name (ARN)
    AWS Region
    AWS CLI Access (No AWS account required)
    aws s3 ls --no-sign-request s3://ucr-robotics/citrus-farm-dataset/

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