This work was undertaken by members of the Lincoln Centre for Autonomous Systems, University of Lincoln, UK. The four data collection sessions were conducted at three different sites in Lincolnshire, UK and one in Murcia, Spain (see Fig. 1). The sessions were conducted at the beginning and towards the end of harvesting season in UK and at the end of the harvest in Spain. The variety of broccoli plants grown in UK is called Iron Man whilst the variety grown in Spain is called Titanium.The weather during UK data capture included a mixture of different conditions including sunny, overcast and raining with broccoli varying in maturity levels from small to larger to already harvested, while the conditions for data capture in Spain included strong sunlight and mature plants at the very end of the harvesting season. The tractor was driven through the broccoli field at a slow walking speed with two rows of broccoli plants being imaged by the RGB-D sensor.
The annotations for the selected runs (Srufleet A run 2 and 4, Fuente Alamo run 1) are also provided and include both per point class and the centroid locations of broccoli heads (see gt_readme.txt file for more detail).
If you find this dataset useful and use it in your work please cite the following paper:
K. Kusumam, T. Krajnik, S. Pearson, G. Cielniak and T. Duckett, (2017)
3D-vision based detection, localization, and sizing of broccoli heads in the field.
Journal of Field Robotics, 34 (8). pp. 1505-1518. ISSN 1556-4959
| location/date | run | duration [mm:ss] | frames | fps | files | preview |
|---|---|---|---|---|---|---|
| Boston, UK, Aug 2015 | 1 | 01:08 | 898 | 13.0 | point clouds (.pcd) (1.4GB) |
|
| 2 | 01:10 | 801 | 11.3 | point clouds (.pcd) (1.2GB) |
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| 3 | 01:20 | 979 | 12.1 | point clouds (.pcd) (1.5GB) |
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| 4 | 01:06 | 806 | 12.1 | point clouds (.pcd) (1.3GB) |
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| 5 | 01:00 | 743 | 12.2 | point clouds (.pcd) (1.1GB) |
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| Surfleet A, UK, Nov 2015 | 1 | 01:47 | 776 | 7.2 | GPS logs (13.7MB) point clouds (.pcd) (1.5GB) |
|
| 2 | 04:54 | 2201 | 7.5 | GPS logs (77.3MB) point clouds (.pcd) (4.5GB) colour images (.png) (5.6GB) |
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| 3 | 09:32 | 4682 | 8.2 | GPS logs (77.3MB) point clouds (.pcd) (9.4GB) |
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| 4 | 07:53 | 1580 | 3.3 | GPS logs (47.4MB) point clouds (.pcd) (3.2GB) |
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| Surfleet B, UK, Nov 2015 | 1 | 08:10 | 4045 | 8.2 | GPS logs (85.5MB) point clouds (.pcd) (8.1GB) |
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| 2 | 01:39 | 823 | 8.2 | GPS logs (9.5MB) point clouds (.pcd) (1.6GB) |
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| 3 | 18:11 | 9468 | 8.7 | GPS logs (89.3MB) point clouds (.pcd) (19.0GB) |
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| Fuente Alamo, Spain, Apr 2016 | 1 | 03:56 | 1518 | 6.4 | GPS logs (27.9MB) point clouds (.pcd) (2.9GB) |
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| 2 | 02:52 | 989 | 5.7 | GPS logs (26.5MB) point clouds (.pcd) (1.8GB) |
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| 3 | 18:03 | 6048 | 5.6 | GPS logs (124.5MB) point clouds (.pcd) (11.4GB) |
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| 4 | 17:30 | 5865 | 5.6 | GPS logs (127.8MB) point clouds (.pcd) (11.7GB) |