PilotSCAN-Orchard-Autumn-2024-RawSystem

This dataset provides a complete multi-sensor acquisition and reconstruction framework for 3D LiDAR mapping in orchard environments. It includes raw data and configuration files to ensure full reproducibility of the acquisition and mapping pipeline.

The dataset is organised as follows:

Raw data

ROS bag file (*.bag)Contains fully synchronised multi-sensor recordings, including LiDAR, GNSS, IMU, and auxiliary sensor streams acquired during the field campaign

ROSbag info:

version:     2.0duration:    11:55s (715s)start:       Oct 11 2024 16:14:37.54 (1728656077.54)end:         Oct 11 2024 16:26:33.06 (1728656793.06)size:        36.5 GBmessages:    1570367compression: none [38461/38461 chunks]types:       camera_control_msgs/currentParams        [442a674eef3748e9fe89b83004286960]             geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96]             gps_ros/gps_solution_s                   [955a295f9868f5be5174ea7f7ef9ebdb]             ouster_ros/PacketMsg                     [4f7b5949e76f86d01e96b0e33ba9b5e3]             rmp_msgs/Battery                         [f734bf38f159e9150d68440a3d2fe845]             sensor_msgs/Image                        [060021388200f6f0f447d0fcd9c64743]             sensor_msgs/Imu                          [6a62c6daae103f4ff57a132d6f95cec2]             sensor_msgs/NavSatFix                    [2d3a8cd499b9b4a0249fb98fd05cfa48]             std_msgs/String                          [992ce8a1687cec8c8bd883ec73ca41d1]topics:      /base/rmp440le/battery               3753 msgs    : rmp_msgs/Battery                                     /gps/info                           13668 msgs    : gps_ros/gps_solution_s                               /gps/twist                          13667 msgs    : geometry_msgs/TwistWithCovarianceStamped             /kvh/twist                          68664 msgs    : geometry_msgs/TwistWithCovarianceStamped             /novatel/fix                        14310 msgs    : sensor_msgs/NavSatFix                                /novatel_imu                          716 msgs    : sensor_msgs/Imu                                      /ouster/imu_packets                 89437 msgs    : ouster_ros/PacketMsg                                 /ouster/lidar_packets              847637 msgs    : ouster_ros/PacketMsg                                 /ouster/metadata                        1 msg     : std_msgs/String                                      /panoramic_camera_node/image_raw     6956 msgs    : sensor_msgs/Image                                    /pylon_camera_node/currentParams     6958 msgs    : camera_control_msgs/currentParams                    /twist_rmp440                        3753 msgs    : geometry_msgs/TwistWithCovarianceStamped             /vectornav/IMU/up                  143100 msgs    : sensor_msgs/Imu                                      /vectornav/Twist_ENU               286200 msgs    : geometry_msgs/TwistWithCovarianceStamped             /xsens/imu                          71547 msgs    : sensor_msgs/Imu

Ouster metadata (metadata_*.json)Sensor configuration and calibration parameters automatically generated by the LiDAR at acquisition time.

Data were collected on 11 October 2024 in an apple orchard at the "Lycée agricole de Toulouse Auzeville", France.This dataset is designed to support research in 3D mapping, semantic segmentation, and tree structure analysis for agricultural robotics applications.

**Primary sensor**: LiDAR - Ouster OS0-128 **Additional sensors**: RGB camera, IMU VN-300, Novatel FLEX6-G2S-ROG-CCN (GNSS+RTK), KVH DSP-3000 Gyroscope **Platform**: Ground mobile platform (UGV)

Configuration and system setup

config/ directory

ekf_global_navsat.yaml: EKF configuration for sensor fusion

params.yaml: processing and reconstruction parameters

topics.yaml: ROS topic definitions used during acquisition

robot.urdf.xacro: robot and sensor configuration model