Three Microsoft Kinect v2 sensors (K2S1, K2S2 and K2S3) were used to scan Fuji apple trees along the afternoon and evening, from the higher sun illuminance (55000 lux) until achieving dark conditions (0.1 lux), obtaining a total of 252 captures: 28 lighting conditions * 3 sensors * 3 repetitions. The data provided for each capture is: the acquired point cloud, illuminance level at the center of the measured scene, and wind speed.
The sensors where placed as follows:
- K2S1: Oriented to the north, measuring the row of trees side under direct sunlight. This sensor was placed at 2.5 m from the measured target.
- K2S2: Oriented to the north, measuring the row of trees side under direct sunlight. This sensor was placed at 1.5 m from the measured target.
- K2S3 Oriented to the south, measuring the row of trees side under indirect sunlight. This sensor was placed at 2.5 m from the measured target.
The dataset also includes two additional registered captures measuring the same scene from 1.5 m and from 2.5 m.
Find more information about the scanning conditions in .
Figure 1. a) Experimental set-up. b) Acquired point cloud.
The dataset can be downloaded from the following link: KEvOr dataset (350 MB)
Find the code used in  for the Kinect v2 evaluation at RGBD_sensors_evaluation_in_Orchards.
This dataset is available only for research and educational purpose and not for any commercial use. If you use the dataset in any publications or reports, you should refer to the following papers:
 Gené-Mola, J.; Llorens, J.; Rosell-Polo, J.R.; Gregorio, E.; Arnó, J.; Solanelles, F.; Martínez-Casasnovas, J.A.; Escolà, A. Assessing the Performance of RGB-D Sensors for 3D Fruit Crop Canopy Characterization under Different Operating and Lighting Conditions. Sensors 2020, 20, 7072. DOI:https://doi.org/10.3390/s20247072