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Rubber Tree 3D LiDAR Point Cloud Dataset
This repository contains a Gazebo-simulated 3D LiDAR point-cloud dataset for rubber-tree detection in agricultural robotics.
The complete dataset contains 7,517 frames and 126,926 annotated tree instances from two simulated plantation layouts.
Files
S5K.zip: curved-row plantation layout.straight_line.zip: straight/grid-row plantation layout.
The two original data archives are preserved unchanged.
Evaluation protocol
The complete S5K subset contains 5,545 frames and is used for training and validation/model selection:
- Training: 4,436 S5K frames.
- Validation/model selection: 1,109 S5K frames.
All 1,972 frames from the separate straight/grid-row layout are used exclusively for testing. No straight/grid-row frame is included in training or validation.
This is a simulation-only dataset. The available data do not establish robustness to real plantation conditions, diverse tree geometry, graded occlusion severity, or uneven terrain.
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