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The National Robotics Engineering Center Agricultural Person-Detection Dataset

posted on 2024-02-08, 21:26 authored by Zachary A. Pezzementi, Trenton Tabor, Peiyun Hu, Jonathan K. Chang, Deva Ramanan, Carl K. Wellington, Benzun P. Wisely Babu, Herman Herman

Person detection from vehicles has made rapid progress recently with the advent of multiple high-quality datasets of urban and highway driving, yet no large-scale benchmark is available for the same problem in off-road or agricultural environments. Here we present the National Robotics Engineering Center (NREC) Agricultural Person-Detection Dataset to spur research in these environments. It consists of labeled stereo video of people in orange and apple orchards taken from two perception platforms (a tractor and a pickup truck), along with vehicle position data from Real Time Kinetic (RTK) GPS. We define a benchmark on part of the dataset that combines a total of 76k labeled person images and 19k sampled person-free images. The dataset highlights several key challenges of the domain, including varying environment, substantial occlusion by vegetation, people in motion and in nonstandard poses, and people seen from a variety of distances; metadata are included to allow targeted evaluation of each of these effects.

Resources in this dataset:


USDA-NIFA: 2014-67021-22171


Data contact name

NREC Human Detection Team


National Robotics Engineering Center

Intended use

The intended use of the dataset and associated benchmark is to support the development and evaluation of person detection algorithms for agricultural and off-road domains. The large corpus of rich data included may also be useful for a number of other tasks though, such as evaluation of visual odometry or 3D modeling in the domain.

Temporal Extent Start Date


Temporal Extent End Date



  • Not specified

ISO Topic Category

  • farming

National Agricultural Library Thesaurus terms

data collection; robots; engineering; apples; orchards; tractors; global positioning systems; vegetation; algorithms; models

Pending citation

  • No

Public Access Level

  • Public

Preferred dataset citation

Pezzementi, Zachary A.; Tabor, Trenton; Hu, Peiyun; Chang, Jonathan K.; Ramanan, Deva; Wellington, Carl K.; Wisely Babu, Benzun P.; Herman, Herman (2018). The National Robotics Engineering Center Agricultural Person-Detection Dataset. National Robotics Engineering Center.