SEEmear: High-Resolution Georeferenced Proximal RGB-D Data for Niagara Grapes in the Field

This dataset contains high-resolution geo-referenced RGB-D data collected in vineyards using the SEEmear proximal sensing system. The data were acquired at farms in São Miguel Arcanjo, São Paulo, Brazil, during field tests conducted in December 2025. Data Collection System The SEEmear integrates stereo cameras (ZED X, Stereolabs Inc.) with high-resolution global shutter sensors (1920 × 1200 pixels), wide-angle lenses, and integrated IMUs, mounted on a mobile platform. The system includes RTK-GNSS positioning (Reach M2 rover and Reach RS3 base station) for centimeter-level accuracy, enabling precise georeferencing of all captured data. Dataset Contents RGB-D stereo images at 30 fps IMU measurements synchronized with camera frames RTK GNSS positioning data GPS time synchronization for temporal consistency Applications This dataset supports research in precision agriculture, plant phenotyping, and agricultural robotics, including fruit detection and counting, 3D reconstruction and mapping, trunk and canopy structure analysis, SLAM algorithm development, and multi-view stereo reconstruction. Data Format Complete RGB-D camera footage with associated IMU readings (SVO2 files) and geo-referenced positioning data (POS), enabling accurate 3D point cloud generation and temporal mapping of vineyard structures with sub-centimeter resolution. For reading SVO2 data, users should use Stereolabs' ZED SDK, available free of charge.