---
pretty_name: Rubber Tree 3D LiDAR Point Cloud Dataset
tags:
- lidar
- 3d-point-cloud
- robotics
- agriculture
---

# 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.