Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 38, Issue 6, Pages 633-641Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364919841437
Keywords
Precision agriculture; SLAM; agricultural robotics
Categories
Funding
- Spanish government [DPI2015-67275]
- Aragon regional government [Grupo DGA-T45_17R/FSE]
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In this paper we present the Rosario dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. The dataset is publicly available from http://www.cifasis-conicet.gov.ar/robot/. .
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