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FinnForest dataset: A forest landscape for visual SLAM

Research output: Contribution to journalArticleScientificpeer-review


Original languageEnglish
Article number103610
Number of pages13
Publication statusPublished - 2020
Publication typeA1 Journal article-refereed


This paper presents a novel challenging dataset that offers a new landscape of testing material for mobile robotics, autonomous driving research, and forestry operation. In contrast to common urban structures, we explore an unregulated natural environment to exemplify sub-urban and forest environment. The sequences provide two-natured data where each place is visited in summer and winter conditions. The vehicle used for recording is equipped with a sensor rig that constitutes four RGB cameras, an Inertial Measurement Unit, and a Global Navigation Satellite System receiver. The sensors are synchronized based on non-drifting timestamps. The dataset provides trajectories of varying complexity both for the state of the art visual odometry approaches and visual simultaneous localization and mapping algorithms. The full dataset and toolkits are available for download at: http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d. As an alternative, you can browse for the dataset using the article title at: http://etsin.fairdata.fi.


  • Autonomous driving, Computer vision, Dataset, Field robotics, Forest, Localization, Mapping, Mobile robotics, Navigation, SLAM, Stereo, Visual odometry

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