The GREENBOT dataset: Multimodal mobile robotic dataset for a typical Mediterranean greenhouse
CoRR(2024)
摘要
This paper introduces an innovative dataset specifically crafted for
challenging agricultural settings (a greenhouse), where achieving precise
localization is of paramount importance. The dataset was gathered using a
mobile platform equipped with a set of sensors typically used in mobile robots,
as it was moved through all the corridors of a typical Mediterranean greenhouse
featuring tomato crop. This dataset presents a unique opportunity for
constructing detailed 3D models of plants in such indoor-like space, with
potential applications such as robotized spraying. For the first time to the
best knowledge of authors, a dataset suitable to put at test Simultaneous
Localization and Mapping (SLAM) methods is presented in a greenhouse
environment, which poses unique challenges. The suitability of the dataset for
such goal is assessed by presenting SLAM results with state-of-the-art
algorithms. The dataset is available online in
.
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