PilotSCAN-Orchard-Summer-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:     17:51s (1071s)start:        Aug 05 2024 10:47:45.13 (1722847665.13)end:          Aug 05 2024 11:05:37.12 (1722848737.12)size:         36.6 GBmessages:     2385160compression:  bz2 [64131/64131 chunks; 52.66%]uncompressed: 69.5 GB @ 66.4 MB/scompressed:   36.6 GB @ 34.9 MB/s (52.66%)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                5549 msgs    : rmp_msgs/Battery                                      /frontal_camera_node/image_raw       10720 msgs    : sensor_msgs/Image                                     /gps/info                            21082 msgs    : gps_ros/gps_solution_s                                /gps/twist                           21081 msgs    : geometry_msgs/TwistWithCovarianceStamped              /kvh/twist                          102840 msgs    : geometry_msgs/TwistWithCovarianceStamped              /novatel/fix                         21440 msgs    : sensor_msgs/NavSatFix                                 /ouster/imu_packets                 133994 msgs    : ouster_ros/PacketMsg                                  /ouster/lidar_packets              1282376 msgs    : ouster_ros/PacketMsg                                  /ouster/metadata                         1 msg     : std_msgs/String                                       /panoramic_camera_node/image_raw      9722 msgs    : sensor_msgs/Image                                     /pylon_camera_node/currentParams     20444 msgs    : camera_control_msgs/currentParams                     /twist_rmp440                         5549 msgs    : geometry_msgs/TwistWithCovarianceStamped              /vectornav/IMU/up                   214391 msgs    : sensor_msgs/Imu                                       /vectornav/Twist_ENU                428780 msgs    : geometry_msgs/TwistWithCovarianceStamped              /xsens/imu                          107191 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 5 August 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