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<!DOCTYPE html>
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<title>LAST-Straw</title>
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<h1 class="title is-1 publication-title">LAST-Straw</h1>
<h1 class="title is-size-3">Lincoln’s Annotated Spatio-Temporal Strawberry Dataset</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a href="https://staff.lincoln.ac.uk/13ef189a-a2cc-43f0-8cec-fa55b4435cd2" target="_blank">Katherine M.F. James</a><sup>*</sup>,</span>
<span class="author-block">
<a href="https://karo.super.site/" target="_blank">Karoline Heiwolt</a><sup>*</sup>,</span>
<span class="author-block">
<a href="https://www.niab.com/about/people/professor-dan-sargent" target="_blank">Daniel J. Sargent</a>,</span>
<span class="author-block"></span>
<a href="https://staff.lincoln.ac.uk/gcielniak" target="_blank">Grzegorz Cielniak</a>
</span>
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<div class="is-size-5 publication-authors">
<span class="author-block">Lincoln Centre for Autonomous Systems<br>University of Lincoln, UK</span>
<span class="eql-cntrb"><small><br><sup>*</sup>Indicates Equal Contribution</small></span>
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<h2 class="subtitle has-text-centered">
Data preview: Example point cloud, alternating between original textures and instance annotations.
</h2>
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<figure>
<img src="static/images/katrina_over_time_updated.png">
</figure>
<h2 class="subtitle has-text-centered">
Data preview: Example time series of the same plant with original textures (row 1), <br> class annotations (row 2), instance annotations (row 3), and temporally consistent leaf instance annotations (row 4).
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<h3 class="title is-3">The dataset</h3>
<div class="content has-text-justified">
<p>
This dataset contains point clouds of 6 strawberry plants, each captured 14 times over the span of 11 weeks (13/05/2022 - 29/07/2022).
The 6 plants are of two varieties, Driscoll's Katrina (variety A) and Driscoll's Zara (variety B), with three individuals of each.
A total of 84 point clouds are provided with an average of over 1.17 million points per scan.
Of these, 28 are annotated with class and instance labels for each point in the cloud.
</p>
</div>
<h3 class="title is-3">Methodology</h3>
<div class="content has-text-justified">
<p>
The scans were recorded using the <a href="https://www.einscan.com/handheld-3d-scanner/einscan-pro-2x-2020/" target="_blank">Shining 3D Einscan Pro 2x </a> handheld scanner,
equipped with the <a href="https://www.einscan.com/handheld-3d-scanner/color-pack/" target="_blank">'Color Pack'</a> add-on.
The scanner operates based on structured-light projections, so while the plants were regularly housed under polytunnels
at the University of Lincoln <a href="https://www.lincoln.ac.uk/liat/riseholmecampus/" target="_blank">Riseholme campus farm</a>, the plants were carefully
moved into a controlled scanning environment for each data collection. The scanning chamber was set up to provide low and diffuse indirect light,
optimizing conditions for data capture. <br>
The scanner was calibrated before each use. All scans are true to real-world scale (in mm).
Each sequence of scans of the same plant was aligned manually using <a href="https://www.cloudcompare.org/" target="_blank">CloudCompare</a>, and thus a common global coordinate frame between different plants can not be assumed.
</p>
</div>
<h3 class="title is-3">Data structure and file format</h3>
<div class="content has-text-justified">
<p>
We provide each scan as an .xyz text file with up to 8 columns per points (X, Y, Z, R, G, B, class, instance), providing the 3D coordinates, followed by RGB values, and the class and instance labels where available.
Files are named by their plant variety and ID, followed by the capture date in year-month-day format, e.g. A2_20220729.xyz <br>
An added '_a' at the end of the file name indicates that the scan is annotated.<br>
</p>
</div>
<h3 class="title is-3">Annotations</h3>
<div class="content has-text-justified">
<p>
Where available, two labels are provided per point: one class label and one instance label to distinguish individual organ instances of the same class.
Please note that the instance labels are not ordered by the emergence date of each organ and are not temporally consistent.
We use seven classes to distinguish different plant organs and two additional classes for background information inadvertently captured during the scanning process.
The semantic classes are:
<ol>
<li>leaf or leaflet</li>
<li>stem (incl. petiole, peduncle, pedicel, and stolon)</li>
<li>berry</li>
<li>flower</li>
<li>crown</li>
<li>background (incl. soil, grow bags, neighbouring plants, and any other objects captured in the background)</li>
<li>other (any unidentifiable structure within the plant, which may include newly emerging organs that are not yet identifiable)</li>
<li>the scanning table</li>
<li>emergent leaf or leaflet</li>
</ol>
</p>
<p>
Ground truth skeletons are provided for all stem-like structures for the annotated scans. Please note that the associated json file should be used to associate their file names with the the annotation id of each stem.the annotation id of each stem.
</p>
</div>
<h3 class="title is-3">Code and resources</h3>
<div class="content has-text-justified">
<p>
We provide a small python code sample <a href="https://github.com/LCAS/LAST-Straw/blob/master/python/data_io.py" target="_blank">here</a> for loading the dataset, optionally using Open3D or Numpy.
We also recommend using <a href="https://www.danielgm.net/cc/" target="_blank">CloudCompare</a> to inspect the data.
<figure>
<img src="static/images/cc_visualise.png" width="500">
<figcaption>Make sure to flick through these two drop-down menus in the Properties window to display the labels where available. You can display original colour, class labels, and instance labels.</figcaption>
</figure>
</p>
</div>
<h3 class="title is-3">How to cite</h3>
<div class="content has-text-justified">
<p> If you find this dataset useful and would like to use it in your work, please cite the following paper:
<pre>
@misc{uol2024laststraw,
title = {{Lincoln's Annotated Spatio-Temporal Strawberry Dataset (LAST-Straw)}},
author = {James, Katherine Margaret Frances and Heiwolt, Karoline and Sargent, Daniel James and Cielniak, Grzegorz},
year = {2024},
eprint = {2403.00566},
archivePrefix = {arXiv},
primaryClass = {cs.CV}
}
</pre>
</p>
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This page was built using the <a href="https://github.com/eliahuhorwitz/Academic-project-page-template" target="_blank">Academic Project Page Template</a>.<br>
It is a living document, and we continuously update it with the latest information. If you have any questions or feedback, please don't hesitate to contact us.<br>
This work was supported by the Engineering and Physical Sciences Research Council and AgriFoRwArdS CDT [EP/S023917/1], and by the Biotechnology and Biological Sciences Research Council and the CTP for Fruit Crop Research.
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