CitrusFarm Dataset

CitrusFarm is a multimodal agricultural robotics dataset that provides both multispectral images and navigational sensor data for localization, mapping and crop monitoring tasks. <ol> <li>It was collected by a wheeled mobile robot in the Agricultural Experimental Station at the University of California Riverside in the summer of 2023. </li> <li>It offers a total of nine sensing modalities, including stereo RGB, depth, monochrome, near-infrared and thermal images, as well as wheel odometry, LiDAR, IMU and GPS-RTK data. </li> <li>It comprises seven sequences collected from three citrus tree fields, featuring various tree species at different growth stages, distinctive planting patterns, as well as varying daylight conditions. </li> <li>It spans a total operation time of 1.7 hours, covers a total distance of 7.5 km, and constitutes 1.3 TB of data.</li> </ol>

柑橘农场是一个多模态农业机器人数据集，该数据集提供了用于定位、制图和作物监测任务的多光谱图像和导航传感器数据。

<ol> <li>该数据集由一辆轮式移动机器人在加州大学河滨分校的农业实验站于2023年夏季收集。</li> <li>数据集共计包含九种感知模式，包括立体RGB、深度、单色、近红外和热成像，以及轮速里程计、激光雷达、惯性测量单元和GPS-RTK数据。</li> <li>数据集由七个序列组成，分别从三个柑橘树种植园采集，展示了不同树种的各个生长阶段、独特的种植模式以及不同的光照条件。</li> <li>数据集的总操作时间为1.7小时，覆盖总距离7.5公里，数据量达到1.3TB。</li> </ol>