FieldSAFE: Dataset for Obstacle Detection in Agriculture
by
Mikkel Fly Kragh 1,*,†
, Peter Christiansen 1,†, Morten Stigaard Laursen 1, Morten Larsen 2, Kim Arild Steen 3, Ole Green 3, Henrik Karstoft 1 and Rasmus Nyholm Jørgensen 1
Mikkel Fly Kragh 1,*,†, Peter Christiansen 1,†, Morten Stigaard Laursen 1, Morten Larsen 2, Kim Arild Steen 3, Ole Green 3, Henrik Karstoft 1 and Rasmus Nyholm Jørgensen 1
1
Department of Engineering, Aarhus University, Aarhus N 8200, Denmark
2
Conpleks Innovation ApS, Struer 7600, Denmark
3
AgroIntelli, Aarhus N 8200, Denmark
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Sensors 2017, 17(11), 2579; https://doi.org/10.3390/s17112579
Received: 28 September 2017 / Revised: 6 November 2017 / Accepted: 7 November 2017 / Published: 9 November 2017
(This article belongs to the Special Issue Sensors in Agriculture)
In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360 camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates.
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Keywords:
dataset; agriculture; obstacle detection; computer vision; cameras; stereo imaging; thermal imaging; LiDAR; radar; object tracking
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Kragh, M.F.; Christiansen, P.; Laursen, M.S.; Larsen, M.; Steen, K.A.; Green, O.; Karstoft, H.; Jørgensen, R.N. FieldSAFE: Dataset for Obstacle Detection in Agriculture. Sensors 2017, 17, 2579.
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Externally hosted supplementary file 1
Link: https://vision.eng.au.dk/fieldsafe/
Description: Website for the FieldSAFE dataset including downloads and descriptions of usage.
