UAV LiDAR point clouds for fruit orchards (peach, apple, cherry) in Poland

Three fruit orchards, i.e. apple (malus domestica 'Idared'), cherry (prunus cerasus) and peach (persica vulgaris mill.) are located in South West Poland near Trzebnica city. There are 476 apple trees at the area of 6005 m2, 705 cherry trees at the area of 8576 m2 and 607 peach trees at the area of 9367 m2. The LiDAR data was acquired using a custom-made system : Velodyne HDL-32E laser scanner, Sensonor STIM30 IMU and NovAtel OEM615 GNSS receiver, attached to Leica Aibot X6V2 hexacopter. A single flight at a height of 30 m, which last 7.5, 8.3, and 8.5 minutes (from take-off to landing) for apple, cherry and peach orchard respectively was taken on September 26, 2017. Point clouds were normilized with CloudCompare software. The density is >1000 pts/m2. Files are divided into ground and offground ponts; separately for each tree species. Coordinates are in Polish reference frame PL-2000.