BUTom21: Still image tomato dataset for detection and segmentation

Version 1.0
BUTom21: Still image tomato dataset for detection and segmentation
Halstead, Michael; Guclu, Esra; Farag, Mohamed; Pallotta, Enrico; Hund, Christian; Roscher, Ribana; Bennewitz, Maren; Gall, Juergen; McCool, Chris, 2026, "BUTom21: Still image tomato dataset for detection and segmentation", https://doi.org/10.60507/FK2/DHTEH1, bonndata, V1
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Description
BUTom21 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. (2026-07-14)
Subject Agricultural Sciences
Related Publication IsSupplementTo: Halstead, Michael; Guclu, Esra; Farag, Mohamed; Pallotta, Enrico; Hund, Christian; Roscher, Ribana; Bennewitz, Maren; Gall Juergen; Stachniss, Cyrill; McCool, Chris,"Still image and spatial-temporal tomato data enabling detection, segmentation, tracking, and video-instance segmentation using strong and weak labels", https://arxiv.org/abs/2607.14934, arXivdoi: 10.48550/arXiv.2607.14934
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