doi:10.1177/0278364919841437engPire, T.Mujica, M.Civera, J.Kofman, E.The Rosario dataset: Multisensor data for localization and mapping in agricultural environmentsART-2019-111540In this paper we present the Rosario dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. The dataset is publicly available from http://www.cifasis-conicet.gov.ar/robot/.2019http://zaguan.unizar.es/record/8839010.1177/0278364919841437http://zaguan.unizar.es/record/88390oai:zaguan.unizar.es:88390info:eu-repo/grantAgreement/ES/DGA/T45-17Rinfo:eu-repo/grantAgreement/ES/MINECO/DPI2015-67275International Journal of Robotics Research 38, 6 (2019), 633 - 641All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess