DART-UGV-trees

This dataset contains a simulated LiDAR point cloud generated using the DART radiative transfer model. The virtual scene represents a typical orchard environment composed of fruit trees and various field elements. The simulation emulates a terrestrial laser scanning acquisition performed by an unmanned ground vehicle (UGV), enabling controlled and repeatable experiments for 3D reconstruction, segmentation, and classification tasks in agricultural contexts. Each point in the cloud is enriched with detailed attributes, including: Spatial coordinates (X, Y, Z) Angular and range-based geometry (Rho, Phi, Theta) Return and pulse information (Number of returns, Return index, Pulse index) Radiometric attributes (Amplitude, Corrected intensity, Intensity gradients)