UNISA OFF-ROAD Dataset

The dataset consists of images acquired with a RGB-D camera in a semi-structured off-road environment, characterized by natural and landscaped vegetation and heterogeneous terrain conditions. The scenes depict areas with grass-covered soil, gravel paths, and patches of bare or uneven ground, often scattered with small stones, dry leaves, and low vegetation. The drivable surfaces vary in appearance and consistency, ranging from compact gravel to softer grassy or soil areas, reflecting the typical variability of outdoor, unpaved environments.

The surrounding vegetation includes a diverse mix of trees, hedges, bushes, and flowerbeds, providing natural obstacles and varying degrees of visibility and shading. The images were captured in garden areas of the University of Salerno campus, an environment that combines natural elements with maintained green zones, creating a realistic setting for off-road robotic perception.