ROS2 Multi-Modal Windrow Detection Dataset (Single-Row Subset)
ROS2 Multi-Modal Windrow Detection Dataset (Single-Row Subset)
This dataset contains synchronized multi-modal sensor recordings from a Fendt Vario 724 tractor during real baling operations. The released subset (123 s, 35.9 GB) captures traversal along a single windrow under stable lighting and surface conditions. Full windrow dataset available on request due to size limitations.It is part of a larger multimodal agricultural dataset effort for reproducible field-robotics research. Sensors include: Ouster OS0-128 LiDAR (18.3 Hz, 131 k pts/frame) ZED 2i stereo camera (23.5 Hz, ~230 k pts raw / 66 k filtered) NovAtel OEM7 GNSS + IMU for trajectory reference Five auxiliary mono cameras (ArkCam) All data were recorded with ROS 2 Humble and stored in MCAP format.Topics include /ouster/points, /zed/zed_node/point_cloud/cloud_registered, /zed/zed_node/odom, /novatel/oem7/fix, and synchronized camera streams. The dataset supports research on real-time windrow detection, sensor fusion, and GPS-free navigation in agricultural environments.Code and reference implementation are available at: github.com/Gunreben/Windrow-Centerline-ROS2-Node
- Leipzig University Germany
sensor fusion, LiDAR, windrow detection, Stereo Vision, real-time perception, autonomous harvesting, Agricultural Robotics, multi-modal dataset, edge computing, forage harvesting, field robotics, ROS2, Jetson AGX Orin, GPS-free navigation, open dataset
sensor fusion, LiDAR, windrow detection, Stereo Vision, real-time perception, autonomous harvesting, Agricultural Robotics, multi-modal dataset, edge computing, forage harvesting, field robotics, ROS2, Jetson AGX Orin, GPS-free navigation, open dataset
selected citations These citations are derived from selected sources.This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).0 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average
Citations provided by BIP!Popularity provided by BIP!