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.