PilotSCAN-Orchard-Summer-2024-RawSystem

This dataset provides a complete multi-sensor acquisition and reconstruction framework for 3D LiDAR mapping in orchard environments. It includes raw data and configuration files to ensure full reproducibility of the acquisition and mapping pipeline. The dataset is organised as follows: Raw data ROS bag file (*.bag)Contains fully synchronised multi-sensor recordings, including LiDAR, GNSS, IMU, and auxiliary sensor streams acquired during the field campaign ROSbag info: version: 2.0duration: 17:51s (1071s)start: Aug 05 2024 10:47:45.13 (1722847665.13)end: Aug 05 2024 11:05:37.12 (1722848737.12)size: 36.6 GBmessages: 2385160compression: bz2 [64131/64131 chunks; 52.66%]uncompressed: 69.5 GB @ 66.4 MB/scompressed: 36.6 GB @ 34.9 MB/s (52.66%)types: camera_control_msgs/currentParams [442a674eef3748e9fe89b83004286960] geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96] gps_ros/gps_solution_s [955a295f9868f5be5174ea7f7ef9ebdb] ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3] rmp_msgs/Battery [f734bf38f159e9150d68440a3d2fe845] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]topics: /base/rmp440le/battery 5549 msgs : rmp_msgs/Battery /frontal_camera_node/image_raw 10720 msgs : sensor_msgs/Image /gps/info 21082 msgs : gps_ros/gps_solution_s /gps/twist 21081 msgs : geometry_msgs/TwistWithCovarianceStamped /kvh/twist 102840 msgs : geometry_msgs/TwistWithCovarianceStamped /novatel/fix 21440 msgs : sensor_msgs/NavSatFix /ouster/imu_packets 133994 msgs : ouster_ros/PacketMsg /ouster/lidar_packets 1282376 msgs : ouster_ros/PacketMsg /ouster/metadata 1 msg : std_msgs/String /panoramic_camera_node/image_raw 9722 msgs : sensor_msgs/Image /pylon_camera_node/currentParams 20444 msgs : camera_control_msgs/currentParams /twist_rmp440 5549 msgs : geometry_msgs/TwistWithCovarianceStamped /vectornav/IMU/up 214391 msgs : sensor_msgs/Imu /vectornav/Twist_ENU 428780 msgs : geometry_msgs/TwistWithCovarianceStamped /xsens/imu 107191 msgs : sensor_msgs/Imu Ouster metadata (metadata_*.json)Sensor configuration and calibration parameters automatically generated by the LiDAR at acquisition time. Data were collected on 5 August 2024 in an apple orchard at the "Lycée agricole de Toulouse Auzeville", France.This dataset is designed to support research in 3D mapping, semantic segmentation, and tree structure analysis for agricultural robotics applications. **Primary sensor**: LiDAR - Ouster OS0-128 **Additional sensors**: RGB camera, IMU VN-300, Novatel FLEX6-G2S-ROG-CCN (GNSS+RTK), KVH DSP-3000 Gyroscope **Platform**: Ground mobile platform (UGV) Configuration and system setup config/ directory ekf_global_navsat.yaml: EKF configuration for sensor fusion params.yaml: processing and reconstruction parameters topics.yaml: ROS topic definitions used during acquisition robot.urdf.xacro: robot and sensor configuration model本数据集提供了一套完整的多传感器采集与重建框架，用于果园环境下的三维激光雷达（LiDAR）建图任务。数据集包含原始数据与配置文件，可确保采集与建图流程的完全可复现性。 数据集结构如下： ### 原始数据 ROS包文件（*.bag）：包含野外采集期间获取的、经过完全同步的多传感器记录流，涵盖激光雷达、全球导航卫星系统（GNSS）、惯性测量单元（IMU）及辅助传感器数据。 ROS包信息： 版本：2.0 时长：17分51秒（1071秒） 起始时间：2024年8月5日 10:47:45.13（时间戳：1722847665.13） 结束时间：2024年8月5日 11:05:37.12（时间戳：1722848737.12） 文件大小：36.6 GB 消息总数：2385160条 压缩方式：bz2 [64131/64131 分块；压缩率52.66%] 未压缩大小：69.5 GB，传输速率66.4 MB/s 压缩后大小：36.6 GB，传输速率34.9 MB/s（压缩率52.66%） 消息类型： - camera_control_msgs/currentParams [442a674eef3748e9fe89b83004286960] - geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96] - gps_ros/gps_solution_s [955a295f9868f5be5174ea7f7ef9ebdb] - ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3] - rmp_msgs/Battery [f734bf38f159e9150d68440a3d2fe845] - sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] - sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] - sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48] - std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1] 话题列表： - /base/rmp440le/battery：5549条消息，类型为rmp_msgs/Battery - /frontal_camera_node/image_raw：10720条消息，类型为sensor_msgs/Image - /gps/info：21082条消息，类型为gps_ros/gps_solution_s - /gps/twist：21081条消息，类型为geometry_msgs/TwistWithCovarianceStamped - /kvh/twist：102840条消息，类型为geometry_msgs/TwistWithCovarianceStamped - /novatel/fix：21440条消息，类型为sensor_msgs/NavSatFix - /ouster/imu_packets：133994条消息，类型为ouster_ros/PacketMsg - /ouster/lidar_packets：1282376条消息，类型为ouster_ros/PacketMsg - /ouster/metadata：1条消息，类型为std_msgs/String - /panoramic_camera_node/image_raw：9722条消息，类型为sensor_msgs/Image - /pylon_camera_node/currentParams：20444条消息，类型为camera_control_msgs/currentParams - /twist_rmp440：5549条消息，类型为geometry_msgs/TwistWithCovarianceStamped - /vectornav/IMU/up：214391条消息，类型为sensor_msgs/Imu - /vectornav/Twist_ENU：428780条消息，类型为geometry_msgs/TwistWithCovarianceStamped - /xsens/imu：107191条消息，类型为sensor_msgs/Imu Ouster元数据（metadata_*.json）：采集时刻由激光雷达自动生成的传感器配置与校准参数。 本数据集采集于2024年8月5日，采集地点为法国图卢兹奥泽维尔农业高中（Lycée agricole de Toulouse Auzeville）的苹果园。本数据集旨在为农业机器人应用中的三维建图、语义分割及树木结构分析等研究方向提供支撑。 **核心传感器**：激光雷达——Ouster OS0-128 **辅助传感器**：RGB相机、IMU VN-300、Novatel FLEX6-G2S-ROG-CCN（GNSS+RTK）、KVH DSP-3000陀螺仪 **搭载平台**：地面移动平台（UGV） ### 配置与系统设置 config/ 目录 - ekf_global_navsat.yaml：用于传感器融合的扩展卡尔曼滤波（EKF）配置文件 - params.yaml：处理与重建参数配置文件 - topics.yaml：采集过程中使用的ROS话题定义文件 - robot.urdf.xacro：机器人与传感器配置模型文件