The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments

Taihú Pire; Martín Mujica; Javier Civera; Ernesto Kofman

The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments

Robotics 2019-03-11 v2

Authors: Taihú Pire , Martín Mujica , Javier Civera , Ernesto Kofman

Abstract

In this paper we present The Rosario Dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of 6 sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural SLAM/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, IMU, stereo camera and a GPS-RTK system. The dataset is publicly available in http://www.cifasis-conicet.gov.ar/robot/.

Keywords

remote sensing planetary rover autonomy

Cite

@article{arxiv.1809.06413,
  title  = {The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments},
  author = {Taihú Pire and Martín Mujica and Javier Civera and Ernesto Kofman},
  journal= {arXiv preprint arXiv:1809.06413},
  year   = {2019}
}

Comments

9 pages, 6 figures, 4 tables, IJRR journal data paper

The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments

Abstract

Keywords

Cite

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