The availability of real-world data in agricultural applications is of paramount importance to develop robust and effective robotic-based solutions for farming operations. In this application context, however, very few data sets are available to the community and for some important crops, such as grapes and olives, they are almost absent. Therefore, the aim of this paper is to introduce and release ARD-VO, a data set for agricultural robotics applications focused on vineyards and olive cultivations. Its main purpose is to provide the researchers with a real-world extensive set of data to support the development of solutions and algorithms for precision farming technologies in the aforementioned crops. ARD-VO has been collected with an unmanned ground vehicle (UGV) equipped with different heterogeneous sensors that capture information essential for robot localization and plant monitoring tasks. It is composed of sequences gathered in 11 experimental sessions between August and October 2021, navigating the UGV for several kilometers in four cultivation fields in Umbria, a central region of Italy. In addition, to highlight the utility of ARD-VO, two application case studies are presented. In the first one, the data set is used to compare the performance of simultaneous localization and mapping and odometry estimation methods using vision systems, light detection and ranging, and inertial measurement unit sensors. The second one shows how the multispectral images included in ARD-VO can be used to compute Normalized Difference Vegetation Index maps, which are crucial to monitor the crops and build prescription maps.
ARD-VO: Agricultural robot data set of vineyards and olive groves
Crocetti F.;Bellocchio E.;Dionigi A.;Felicioni S.;Costante G.;Fravolini M. L.;Valigi P.
2023
Abstract
The availability of real-world data in agricultural applications is of paramount importance to develop robust and effective robotic-based solutions for farming operations. In this application context, however, very few data sets are available to the community and for some important crops, such as grapes and olives, they are almost absent. Therefore, the aim of this paper is to introduce and release ARD-VO, a data set for agricultural robotics applications focused on vineyards and olive cultivations. Its main purpose is to provide the researchers with a real-world extensive set of data to support the development of solutions and algorithms for precision farming technologies in the aforementioned crops. ARD-VO has been collected with an unmanned ground vehicle (UGV) equipped with different heterogeneous sensors that capture information essential for robot localization and plant monitoring tasks. It is composed of sequences gathered in 11 experimental sessions between August and October 2021, navigating the UGV for several kilometers in four cultivation fields in Umbria, a central region of Italy. In addition, to highlight the utility of ARD-VO, two application case studies are presented. In the first one, the data set is used to compare the performance of simultaneous localization and mapping and odometry estimation methods using vision systems, light detection and ranging, and inertial measurement unit sensors. The second one shows how the multispectral images included in ARD-VO can be used to compute Normalized Difference Vegetation Index maps, which are crucial to monitor the crops and build prescription maps.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
