Overview

In recent years, precision agriculture has been introducing groundbreaking innovations in the field, with a strong focus on automation. However, research studies in robotics and autonomous navigation often rely on controlled simulations or isolated field trials. The absence of a realistic common benchmark represents a significant limitation for the diffusion of robust autonomous systems under real complex agricultural conditions. Vineyards pose significant challenges due to their dynamic nature, and they are increasingly drawing attention from both academic and industrial stakeholders interested in automation. 

In this context, we introduce the TEMPO-VINE dataset, a large-scale multi-temporal dataset specifically designed for evaluating sensor fusion, simultaneous localization and mapping (SLAM), and place recognition techniques within operational vineyard environments. TEMPO-VINE is the first multi-modal public dataset that brings together data from heterogeneous LiDARs of different price levels, AHRS, RTK-GPS, and cameras in real trellis and pergola vineyards, with multiple rows exceeding 100 m in length. In this work, we address a critical gap in the landscape of agricultural datasets by providing researchers with a comprehensive data collection and ground truth trajectories in different seasons, vegetation growth stages, terrain and weather conditions. The sequence paths with multiple runs and revisits will foster the development of sensor fusion, localization, mapping and place recognition solutions for agricultural fields. 

Dataset Structure

Sensors Specifics

Trajectories & Data

Reference

TEMPO-VINE dataset paper will be presented at ICRA 2026!

Please consider citing the paper if you use our data!

Martini, M., Ambrosio, M., Vilella-Cantos, J., Navone, A., & Chiaberge, M. (2025). TEMPO-VINE: A Multi-Temporal Sensor Fusion Dataset for Localization and Mapping in Vineyards. arXiv preprint arXiv:2512.04772. 

Acknowledgements

This work has been developed with the contribution of Politecnico di Torino Interdepartmental Centre for Service Robotics PIC4SeR.

We thank Cantina 366 (Aglié, TO) for giving us the chance to experiment our robotics research in their beautiful vineyards.

Contacts

PIC4SeR webpage

Authors email

• Mauro Martini: mauro.martini@polito.it; 

• Marco Ambrosio: marco.ambrosio@polito.it;