UAV-citrus-pointcloud

This dataset contains a 3D point cloud of a citrus orchard located in Ibagué, Colombia, acquired using a UAV-mounted LiDAR system. The point cloud was generated from data collected with a Quanergy M8 Ultra LiDAR sensor, a VectorNav VN-300 inertial navigation system, and a UBLOX ZED-F9P RTK GNSS receiver. The data capture was performed from an unmanned aerial vehicle (UAV), providing dense and accurate 3D reconstruction over an area of approximately 21 × 50 metres. The final point cloud includes around 1 million points and represents detailed structural information of citrus trees under real field conditions. The dataset is provided as a plain text file with the following columns, representing per-point attributes from the LiDAR scan: Column Description X Cartesian coordinate (in metres) Y Cartesian coordinate (in metres) Z Elevation (in metres) horizontal_angle Horizontal angle (in degrees or radians, depending on source) at which the LiDAR emitted the pulse, measured relative to the LiDAR frame. echoe Total number of echoes returned by the emitted laser pulse (useful in vegetated environments with multiple reflections). echoe_order The order of this echo among the possible multiple returns (e.g. 1 = first echo, 2 = second, etc.). intensity Return signal strength of the laser pulse, often correlated with reflectivity of the target surface (higher values indicate stronger reflections). ring Index of the laser channel (vertical beam ID) that generated this point, specific to multi-beam LiDARs like the Quanergy M8 (typically 0–7). range Measured distance (in metres) from the LiDAR sensor to the point, corresponding to the raw laser range. The dataset includes an image titled experimental_setup.png showing the UAV platform and sensor configuration used during data acquisition.