Dataset Card for Botany-Bot

The Botany-Bot dataset contains data from 8 potted plants collected using a lightbox and digital turntable at AUTOLab @UC Berkeley, USA.

Dataset Details

Dataset Description

There are eight plants folder in this dataset: Alocasia, Anthurium, Belize, Croton, Pepper 1, Pepper 2, Pepper 3, Princess Pink.

Data in each plant folder is in the Nerfstudio format containing depth, images, images_2, images_4, images_8, and masks folders. Each folder also includes a transforms.json file.

• License: Creative Commons Attribution 4.0 (cc-by-4.0)

Dataset Sources

• Website: https://berkeleyautomation.github.io/Botany-Bot/
• Paper: Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats
• Arxiv: Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats

Dataset Structure

• depth/: depth images
• images/: raw images
• images_x/: images downscaled by a factor of x
• masks/: segmentation masks for every image following the Nerfstudio convention for masks.
• transforms.json: contains details required in Nerfstudio format including assigned pose transforms of images, depth file path, masks files path.

Personal and Sensitive Information

No personal or sensitive information is included in this dataset.

Bias, Risks, and Limitations

While depth images are included in the Botany-Bot dataset, they were not used in our method and we have not validated them for accuracy.

Citation

If you use the dataset, please cite:

@inproceedings{adebola25botanybot,
  author={Adebola, Simeon and Kim, Chung Min and Kerr, Justin and Xie, Shuangyu and Akella, Prithvi and Susa Rincon, Jose Luis and Solowjow, Eugen and Goldberg, Ken},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats}, 
  year={2025},
  volume={},
  number={},
  pages={1839-1846},
  keywords={Image segmentation;Solid modeling;Accuracy;Three-dimensional displays;Service robots;Robot vision systems;Cameras;Digital twins;Monitoring;Videos},
  doi={10.1109/IROS60139.2025.11247474}
}

Dataset Card Authors

Simeon Adebola

Dataset Card Contact

Simeon Adebola: [email protected]