10.60507/FK2/DHTEH1Halstead, MichaelMichaelHalstead0000-0001-7185-9304University of BonnGuclu, EsraEsraGuclu0000-0003-1106-5566University of BonnFarag, MohamedMohamedFarag0000-0003-4301-1140University of BonnPallotta, EnricoEnricoPallotta0009-0003-9276-0540University of BonnHund, ChristianChristianHundUniversity of BonnRoscher, RibanaRibanaRoscher0000-0003-0094-6210University of BonnBennewitz, MarenMarenBennewitz0000-0003-4343-3028University of BonnGall, JuergenJuergenGall0000-0002-9447-3399University of BonnMcCool, ChrisChrisMcCool0000-0002-0577-1299CSIRObonndata2026Agricultural SciencesGüclü, EsraEsraGüclüUniversity of Bonn2026-07-142026-07-172021-08-18/2021-09-10Images; Numerical; Spreadsheet; Structured; Qualitative10.48550/arXiv.2607.1493450070319554195739application/gziptext/markdowntext/plain1.0CC BY 4.0BUTom21 dataset is a fully hand-annotated still image dataset of tomatoes. It contains 123, 72, 98 images respectively in the training, validation, and evaluation subsets. The dataset contains RGB and noisy depth images captured across 2 capture days and two different RealSense D435i cameras. This creates a fully pixel-wise annotated dataset for tomato detection and segmentation in a real-world robotics scenario.