ROS2 Bag Dataset of Grapevine Trunks - Modular-E

Dataset acquired using an OAK1-PoE camera and a Robosense RS-Helios 5515 LiDAR mounted on the mobile robot Modular-E, also including GNSS positioning with RTK corrections, at the Faculty of Sciences of the University of Porto, Vairão Campus (41°19′38.1″N, 8°40′23.7″W).本数据集由搭载于移动机器人Modular-E上的OAK1-PoE相机与Robosense RS-Helios 5515激光雷达（LiDAR）采集所得，同时包含带RTK校正的全球导航卫星系统（GNSS）定位数据，采集地点位于波尔图大学理学院瓦朗校区（北纬41°19′38.1″N，西经8°40′23.7″W）。