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‎autonomy-dataset/README.md‎

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# Agricultural Autonomous Driving Dataset
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This repository contains the source code for the **Agricultural Autonomous Driving Dataset** website from Smart Farming Lab, Leipzig University.
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## Dataset Overview
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The dataset contains multi-modal sensor data from agricultural environments, including:
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- **6 RGB Cameras** (rear left/mid/right, side left/right, stereo ZED)
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- **LiDAR Point Clouds** from Ouster sensor
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- **High-precision GPS** positioning with Novatel OEM7
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- **IMU measurements** for comprehensive environmental perception
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- **Duration**: ~5.3 minutes of synchronized data
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- **Total Messages**: 146,410 across all sensors
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## Website Features
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- **Interactive 3D Point Cloud Viewer** using Three.js
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- **GPS Trajectory Visualization** with interactive maps
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- **Multi-Camera System Display** with sample images
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- **Sensor Timeline** showing data synchronization
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- **Responsive Nerfies-style Design** optimized for all devices
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## Data Extraction
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The website includes sample data extracted from the rosbag files:
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- Sample images from all camera viewpoints
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- GPS trajectory data for mapping
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- Point cloud samples for 3D visualization
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- Sensor timing information
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## Development
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### Prerequisites
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- Python 3.7+
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- Required packages: `numpy`, `opencv-python`, `matplotlib`, `folium`, `mcap`
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### Setup
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1. Clone the repository
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2. Install dependencies: `pip install -r requirements.txt`
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3. Extract sample data: `python extract_rosbag_data.py`
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4. Open `index.html` in a web browser
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### Deployment
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This website is configured for GitHub Pages deployment. Push to the `main` branch to automatically deploy.
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## Citation
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If you use this dataset in your research, please cite:
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```bibtex
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@dataset{smartfarming2025agricultural,
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title={Agricultural Autonomous Driving Dataset},
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author={Smart Farming Lab},
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institution={Leipzig University},
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year={2025},
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}
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```
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## License
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This website is licensed under a [Creative Commons Attribution-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-sa/4.0/).
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Website template adapted from [Nerfies](https://github.com/nerfies/nerfies.github.io).
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## Contact
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Smart Farming Lab
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Leipzig University
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Germany
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---
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*Showcasing the future of agricultural robotics and autonomous farming systems.*

‎autonomy-dataset/index.html‎

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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="description"
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content="Agricultural Autonomous Driving Dataset from Smart Farming Lab Leipzig University">
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<meta name="keywords" content="Agriculture, Autonomous Driving, Dataset, Smart Farming">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>Agricultural Autonomous Driving Dataset</title>
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<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
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rel="stylesheet">
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<link rel="stylesheet" href="./static/css/bulma.min.css">
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<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
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<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
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<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
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<link rel="stylesheet"
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href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
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<link rel="stylesheet" href="./static/css/index.css">
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<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
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<script defer src="./static/js/fontawesome.all.min.js"></script>
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<script src="./static/js/bulma-carousel.min.js"></script>
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<script src="./static/js/bulma-slider.min.js"></script>
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<script src="./static/js/index.js"></script>
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<!-- Plotly for interactive plots -->
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<script src="https://cdn.plot.ly/plotly-latest.min.js"></script>
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</head>
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<body>
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<section class="hero">
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<div class="hero-body">
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<div class="container is-max-desktop">
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<div class="columns is-centered">
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<div class="column has-text-centered">
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<h1 class="title is-1 publication-title">Agricultural Autonomous Driving Dataset (Preview)</h1>
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<div class="is-size-5 publication-authors">
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<span class="author-block">
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<a href="https://research.uni-leipzig.de/smart-farming/#/en" target="_blank" rel="noopener">Smart Farming Lab</a></span>
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</div>
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<div class="is-size-5 publication-authors">
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<span class="author-block">Leipzig University</span>
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</div>
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<!-- Logos -->
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<div class="columns is-centered mt-2">
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<div class="column is-narrow">
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<img src="./static/images/567-258-max.png" alt="Smart Farming Lab" style="height: 160px; margin: 10px;">
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</div>
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<div class="column is-narrow">
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<img src="./static/images/1181-1181-max.png" alt="Leipzig University" style="height: 160px; margin: 10px;">
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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</section>
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<section class="section" style="padding-top: 1.5rem;">
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<div class="container is-max-desktop">
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<!-- Abstract. -->
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<div class="columns is-centered has-text-centered">
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<div class="column is-four-fifths">
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<h2 class="title is-3">Abstract</h2>
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<div class="content has-text-justified">
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<p>
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We present a large (100GB+) comprehensive multi-modal dataset for autonomous driving in agricultural environments,
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captured using a sophisticated sensor setup including multiple cameras, LiDAR, GPS, and IMU sensors mounted on a Fendt 728 Variotractor.
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</p>
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<p>
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The dataset includes synchronized data from:
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<strong>6 cameras</strong> (rear left/mid/right, side left/right, stereo ZED),
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<strong>LiDAR point clouds</strong> from an Ouster sensor,
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<strong>high-precision GPS</strong> positioning with Novatel OEM7,
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and <strong>IMU measurements</strong> for comprehensive environmental perception.
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</p>
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<p>
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This dataset is designed to support research in agricultural robotics, autonomous navigation
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in unstructured environments, computer vision, environmental mapping and multi-modal sensor fusion.
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</p>
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</div>
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</div>
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</div>
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<!--/ Abstract. -->
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<!-- Dataset Overview -->
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<div class="columns is-centered has-text-centered">
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<div class="column is-four-fifths">
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<h2 class="title is-3">Dataset Overview</h2>
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<div class="content has-text-justified">
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<div class="columns">
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<div class="column">
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<h4>Sensors</h4>
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<ul>
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<li>6 RGB Cameras (multiple viewpoints)</li>
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<li>Ouster LiDAR (3D point clouds)</li>
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<li>Novatel OEM7 GPS/INS</li>
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<li>High-frequency IMU</li>
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</ul>
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</div>
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<div class="column">
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<h4>Data Characteristics</h4>
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<ul>
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<li>Location: Lehr- und Forschungsgut Oberholz der Universität Leipzig</li>
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<li>Seasons: Currently Spring and Summer, will be expanded to include Fall and Winter</li>
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<li>Tasks: Plowing, tilling, will be expanded to include planting, harvesting, and more</li>
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</ul>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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</section>
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<section class="section">
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<div class="container is-max-desktop">
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<!-- Camera Views -->
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<div class="columns is-centered">
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<div class="column is-full-width">
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<h2 class="title is-3">Multi-Camera System</h2>
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<div class="content has-text-justified">
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<p>
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Our agricultural vehicle is equipped with 6 cameras providing comprehensive 360° coverage
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for robust safe perception in farming environments. All cameras are synchronized.
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Below they are displayed in a single composite video view extracted from the rosbag data.
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</p>
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</div>
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<!-- Synchronized Camera Videos -->
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<div class="columns is-multiline" id="camera-grid">
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<!-- Synchronized camera videos will be populated here -->
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</div>
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</div>
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</div>
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<!-- GPS Trajectory -->
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<div class="columns is-centered">
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<div class="column is-full-width">
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<h2 class="title is-3">GNSS Trajectory</h2>
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<div class="content has-text-justified">
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</div>
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<div id="gps-live-plot" style="width: 100%; height: 400px; border: 1px solid #ccc;">
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<!-- Complete GPS trajectory map -->
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</div>
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</div>
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</div>
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<!-- LiDAR Registration Visualization -->
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<div class="columns is-centered">
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<div class="column is-full-width">
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<h2 class="title is-3">Precision LIDAR Point Clouds</h2>
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<div class="content has-text-justified">
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<p>
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The Ouster OS1 LiDAR (128 scanlines) is mounted <strong>60° downward-facing at 2m height</strong>. This enables a high-resolution 3D point cloud of the environment that can be used for precise mapping and localization,
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for object detection and classification and as a deterministic safety sensor. Below is a point cloud of the farmyard environment as seen by the LiDAR.
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</p>
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</div>
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<div class="has-text-centered">
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<figure class="image">
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<img src="./static/images/lidar_registration.png"
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alt="LiDAR-Camera Registration Visualization"
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style="max-width: 100%; height: auto; border: 1px solid #ccc; border-radius: 8px;">
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</figure>
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<p class="has-text-grey mt-2">
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<em>LiDAR registration showing the farmyard of the Lehr- und Forschungsgut Oberholz.</em>
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</p>
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</div>
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</div>
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</div>
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</div>
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</section>
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<footer class="footer">
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<div class="container">
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<div class="content has-text-centered">
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</div>
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<div class="columns is-centered">
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<div class="column is-8">
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<div class="content">
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<p>
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This website is licensed under a <a rel="license"
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href="http://creativecommons.org/licenses/by-sa/4.0/">Creative
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Commons Attribution-ShareAlike 4.0 International License</a>.
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</p>
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<p>
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Website template borrowed from <a
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href="https://github.com/nerfies/nerfies.github.io">Nerfies</a>.
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</p>
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</div>
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</div>
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</div>
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</div>
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</footer>
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</body>
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</html>

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