PilotSCAN-Orchard-Autumn-2024-ReconstructionDataset

This dataset provides reconstructed 3D point clouds and tree-level structural data derived from a multi-sensor LiDAR acquisition in orchard environments. It includes point clouds generated using EKF-based trajectory estimation and refined through ICP registration and pose graph optimisation, together with output files related to the reconstruction pipeline.

The dataset is organised as follows:

Processed data

Global point cloud (cloudCompare_*.bin)Fully reconstructed and aligned 3D point cloud generated from the complete dataset using the reference reconstruction pipeline (Software available on https://www.cloudcompare.org/ ).

clouds/ directoryContains individual point clouds exported in .txt format:

EKF/: point clouds projected using the EKF-based trajectory only

ICP_PG/: point clouds after refinement using ICP registration and pose graph optimisation

These outputs enable direct comparison between initial and refined reconstructions.

tf/ directoryContains the transformation matrices associated with the reconstruction process:

EKF: poses obtained from EKF-based sensor fusion

ICP + Pose Graph: refined poses after scan alignment and global optimisation

Tree-level data

trees/ directoryContains manually segmented and registered individual trees extracted from the reconstructed point clouds.This subset is intended for structural analysis and multi-temporal comparison at tree level.