Data underlying the publication: Tree-SLAM: Semantic object SLAM for efficient mapping of individual trees in orchards

This is an instance segmentation dataset for tree trunks in apple and pear orchards across seasons. It was recorded using a mobile robot with an Intel Realsense D455 camera. It contains images with instance segmentation annotations in the YOLO format. Data is split in train, validation and test set.本数据集为适用于不同季节苹果园与梨园树干的实例分割数据集。该数据集由搭载英特尔实感（Intel Realsense）D455相机的移动机器人采集录制，包含采用YOLO格式标注的实例分割图像，且已划分为训练集、验证集与测试集。