AgLiMatch dataset
Authors/Creators
- 1. Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile
- 2. Rearch Group in AgroICT & Precision Agriculture, Department of Agricultural and Forest Engineering, University of Lleida (UdL) – Agrotecnio Centre, Lleida, Catalonia, Spain
- 3. School of Electrical Engineering, Pontificia Universidad Católica de Chile, Chile.
- 4. Department of Mechanics, Mathematics and Management, Politecnico di Bari, Italy.
- 5. Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile.
Description
The agricultural LiDAR data to evaluate scan matching techniques (AgLiMatch dataset) is comprised of a set of Velodyne VLP-16 LiDAR captures and the corresponding GNSS-RTK tracks acquired in a Fuji apple orchard using an autonomous platform. This dataset was used in [1] to evaluate scan matching techniques by comparing the platform path calculated using LiDAR scan matching techniques and the actual platform path ground truth measured with a GNSS-RTK system.
The correspondence between each LiDAR file (inside /velodyne_data folder) and GNSS track file (inside /GNSS_data folder) is detailed in “Velodyne-GNSS_correspondence-data.xlsx” file.
The relative position between the LiDAR sensor and the GNSS rover is shown in “experimental_setup.png”. Distance units are in mm.