CitrusFarm Sample#

A sample of the CitrusFarm multimodal agricultural robotics dataset, as a native .mcap episode.

A Clearpath Jackal drives the rows of citrus trees at the University of California Riverside’s Agricultural Experimental Station carrying a monochrome camera, a thermal camera, a camera that sees red, green and near-infrared, a ZED 2i stereo camera with its depth, a Velodyne LiDAR, an inertial unit and a GPS-RTK receiver. The episode carries every camera, the stereo depth, the LiDAR scans, the GPS-RTK fixes, the wheel and visual odometry and the ground-truth trajectory on one clock.

One sequence, 5 minutes of driving over 357 m: 3,026 monochrome, 3,024 thermal, 3,025 red-green-NIR and 3,022 stereo frames and 2,998 LiDAR scans.

Details

Example usage

1import fiftyone as fo
2import fiftyone.zoo as foz
3
4dataset = foz.load_zoo_dataset("citrusfarm-sample")
5
6session = fo.launch_app(dataset)
citrusfarm-sample