An RGB-D Image Dataset for Lychee Detection and Maturity Classification for Robotic Harvesting

The dataset contains color (RGB) images collected under different weather conditions and at different time periods, with a resolution of 1280×1024. The images cover various lychee varieties, such as Nuomi, Feizi Xiao, Heiye, and Huaizhi. The dataset includes three distinct ripening stages: immature, semi-ripe, and mature, comprising a total of 11,414 images. These include 878 original RGB images, 8,780 enhanced RGB images, and 1,756 depth images. The images are organized into five folders based on collection date, such as Image_YoloLabel_250605_Outdoor_sunny. Each folder includes descriptions of the weather and indoor/outdoor scenes. Each image and its labeled file is numbered, and includes the data augmentation method, number of categories, and similarity score (e.g., ID-0001_cc_unripe-0_semi-ripe-0_ripe-2_sim-0.0016.jpg). These images are labeled with 9,658 pairs of tags for lychee detection and ripeness classification during robotic harvesting. To improve the consistency of annotation, three researchers independently annotated the data, and then a fourth reviewer summarized and verified their results.本数据集包含在不同天气条件与时段下采集的彩色（RGB）图像，图像分辨率为1280×1024。图像覆盖多个荔枝品种，包括糯米糍（Nuomi）、妃子笑（Feizi Xiao）、黑叶（Heiye）与怀枝（Huaizhi）。本数据集涵盖未成熟（immature）、半成熟（semi-ripe）与成熟（mature）三个明确的成熟度阶段，总计包含11414张图像，其中包括878张原始RGB图像、8780张增强RGB图像以及1756张深度图像。图像按照采集日期分为五个文件夹，例如Image_YoloLabel_250605_Outdoor_sunny。每个文件夹均标注了天气情况与室内外场景信息。每张图像及其标注文件均带有编号，并包含数据增强方式、类别数量与相似度评分信息，例如ID-0001_cc_unripe-0_semi-ripe-0_ripe-2_sim-0.0016.jpg。这些图像均带有9658组标注标签，用于机器人采摘场景中的荔枝检测与成熟度分类任务。为提升标注一致性，本数据集由三名研究人员独立完成标注，随后由第四名审核人员对标注结果进行汇总与核验。