The HAInich: A multidisciplinary vision data-set for a better understanding of the forest ecosystem

We present a multidisciplinary forest ecosystem 3D perception dataset. The dataset was collected in the Hainich-Dün region in central Germany, which includes two dedicated areas, which are part of the Biodiversity Exploratories - a long term research platform for comparative and experimental biodiversity and ecosystem research. The dataset combines several disciplines, including computer science and robotics, biology, bio-geochemistry, and forestry science. We present results for common 3D perception tasks, including classification, depth estimation, localization, and path planning. We combine the full suite of modern perception sensors, including high-resolution fisheye cameras, 3D dense LiDAR, differential GPS, and an inertial measurement unit, with ecological metadata of the area, including stand age, diameter, exact 3D position, and species. The dataset consists of three hand held measurement series taken from sensors mounted on a UAV during each of three seasons: winter, spring, and early summer. This enables new research opportunities and paves the way for testing forest environment 3D perception tasks and mission set automation. We do not focus on even more accurate and better forest data collection, our focus is automated forest inventory for robots.本研究提出一款多学科交叉的森林生态系统三维感知数据集。该数据集采集自德国中部海尼希-杜恩（Hainich-Dün）区域，包含两处专属研究样地，二者均隶属于“生物多样性探索计划（Biodiversity Exploratories）”——一个用于开展对比性与实验性生物多样性及生态系统研究的长期科研平台。本数据集融合多学科研究内容，涵盖计算机科学与机器人学、生物学、生物地球化学以及森林科学等领域。我们还提供了针对常见三维感知任务的实验结果，包括分类、深度估计、定位与路径规划。本数据集整合了全套现代化感知传感器设备，包括高分辨率鱼眼相机、三维密集型激光雷达（LiDAR）、差分全球定位系统（GPS）以及惯性测量单元（IMU），并配套采集了样地的生态元数据，包括林分年龄、林木直径、精确三维坐标以及物种信息。数据集包含三组手持测量序列，分别于冬季、春季和初夏三个季节，由搭载于无人机（UAV）的传感器采集所得。这为相关研究提供了全新的探索方向，也为森林环境三维感知任务与任务集自动化测试提供了可行的路径。本数据集并非致力于追求更精准、更完善的森林数据采集方案，而是聚焦于面向机器人的自动化森林资源调查任务。