cifasis-conicet/rosariov2

The Rosario Dataset v2

Multi-modal dataset for agricultural robotics, recorded with a ground robot navigating soybean fields near Rosario, Argentina. It includes stereo and RGB-D imagery, IMU, wheel odometry, and both conventional and post-processed (PPK) GNSS, together with a post-processed pose ground-truth, across 6 recorded sequences.

This repository mirrors the dataset's official distribution point so it remains available if the primary server is unreachable.

• Website: https://cifasis.github.io/rosariov2/
• Code & tools: https://github.com/CIFASIS/rosariov2 (extraction, conversion, calibration and replay scripts, Docker environments, and full documentation)

Citation

Please cite our work if you use this dataset:

@article{doi:10.1177/02783649251368909,
  author = {Nicolás Soncini and Javier Cremona and Erica Vidal and Maximiliano García and Gastón Castro and Taihú Pire},
  title ={The Rosario dataset v2: Multi-modal dataset for agricultural robotics},
  journal = {The International Journal of Robotics Research},
  year = {2025},
  pages = {02783649251368909},
  doi = {10.1177/02783649251368909},
  URL = {https://doi.org/10.1177/02783649251368909}
}

Dataset structure

• sequences/: the 6 recorded sessions, as ROS1 rosbags, plus add-on rosbags per sequence:
  • <sequence_id>.compressed.bag: base rosbag (stereo/RGB-D imagery, IMU, wheel odometry).
  • <sequence_id>_conventional_gnss.bag: conventional (non post-processed) GNSS data.
  • <sequence_id>_ppk_gnss.bag: Post-Processed Kinematic (PPK) GNSS data.
  • <sequence_id>_pgt.bag: post-processed pose ground-truth.
  • <sequence_id>_odom_fix.bag: corrected wheel odometry (see the code repo's docs/odometry_fix.md), published as /odom_fix, meant to be merged with the base rosbag.
• sequences_plain/: select topics extracted from the rosbags as plaintext (CSV/TUM), with its own README.
• calibration/: calibration recordings (IMU bias, camera/IMU intrinsics and extrinsics) and the resulting calibration files.
• raw_gnss/: raw GNSS receiver logs as produced during data collection.
• supplementary_dataset/: an additional dataset recorded on a separate date at the same premises, with its own README and CHANGELOG.

Sequences

#	Sequence ID	Duration	Distance	Date
1	2023-12-22-13-14-16	940s	777m	2023-12-22
2	2023-12-22-14-29-43	1011s	904m	2023-12-22
3	2023-12-22-16-31-08	943s	950m	2023-12-22
4	2023-12-26-13-39-43	2506s	2254m	2023-12-26
5	2023-12-26-15-10-15	796s	703m	2023-12-26
6	2023-12-26-15-48-38	1862s	1744m	2023-12-26

License

All data in this dataset is licensed under a Creative Commons 4.0 Attribution License (CC BY 4.0). Please check the LICENSE file included in this repository for full terms.

Changelog

Changes to the dataset itself are tracked in CHANGELOG.md.