# AgriChrono: A Multi-modal Dataset Capturing Crop Growth and Lighting Variability with a Field Robot

arXiv: https://arxiv.org/abs/2508.18694 · HTML: https://mlsanity.com/paper/2508.18694/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 50 references that are in the map.
- First posted on arXiv 26 Aug 2025.

## Builds on (most cited first, 30 of 30)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering](https://mlsanity.com/paper/2312.00109/) (2023)
- [Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields](https://mlsanity.com/paper/2304.06706/) (2023)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction](https://mlsanity.com/paper/2406.06521/) (2024)
- [gsplat: An Open-Source Library for Gaussian Splatting](https://mlsanity.com/paper/2409.06765/) (2024)
- [Octree-GS: Towards Consistent Real-time Rendering with LOD-Structured 3D Gaussians](https://mlsanity.com/paper/2403.17898/) (2024)
- [3D Gaussian Splatting as Markov Chain Monte Carlo](https://mlsanity.com/paper/2404.09591/) (2024)
- [A Hierarchical 3D Gaussian Representation for Real-Time Rendering of Very Large Datasets](https://mlsanity.com/paper/2406.12080/) (2024)
- [Taming 3DGS: High-Quality Radiance Fields with Limited Resources](https://mlsanity.com/paper/2406.15643/) (2024)
- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [3D Gaussian Ray Tracing: Fast Tracing of Particle Scenes](https://mlsanity.com/paper/2407.07090/) (2024)
- [Gaussian in the Wild: 3D Gaussian Splatting for Unconstrained Image Collections](https://mlsanity.com/paper/2403.15704/) (2024)
- [3DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splatting](https://mlsanity.com/paper/2412.12507/) (2024)
- [NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wild](https://mlsanity.com/paper/2405.18715/) (2024)
- [SeaThru-NeRF: Neural Radiance Fields in Scattering Media](https://mlsanity.com/paper/2304.07743/) (2023)
- [Tetra-NeRF: Representing Neural Radiance Fields Using Tetrahedra](https://mlsanity.com/paper/2304.09987/) (2023)
- [3D-HGS: 3D Half-Gaussian Splatting](https://mlsanity.com/paper/2406.02720/) (2024)
- [MinneApple: A Benchmark Dataset for Apple Detection and Segmentation](https://mlsanity.com/paper/1909.06441/) (2019)
- [NerfBaselines: Consistent and Reproducible Evaluation of Novel View Synthesis Methods](https://mlsanity.com/paper/2406.17345/) (2024)
- [GrowliFlower: An image time series dataset for GROWth analysis of cauLIFLOWER](https://mlsanity.com/paper/2204.00294/) (2022)
- [3D Student Splatting and Scooping](https://mlsanity.com/paper/2503.10148/) (2025)
- [The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments](https://mlsanity.com/paper/1809.06413/) (2018)
- [Agronav: Autonomous Navigation Framework for Agricultural Robots and Vehicles using Semantic Segmentation and Semantic Line Detection](https://mlsanity.com/paper/2304.04333/) (2023)
- [A Survey on 3D Reconstruction Techniques in Plant Phenotyping: From Classical Methods to Neural Radiance Fields (NeRF), 3D Gaussian Splatting (3DGS), and Beyond](https://mlsanity.com/paper/2505.00737/) (2025)
- [BonnBeetClouds3D: A Dataset Towards Point Cloud-based Organ-level Phenotyping of Sugar Beet Plants under Field Conditions](https://mlsanity.com/paper/2312.14706/) (2023)
- [A survey of datasets for computer vision in agriculture](https://mlsanity.com/paper/2502.16950/) (2025)
- [Reconstruction Using the Invisible: Intuition from NIR and Metadata for Enhanced 3D Gaussian Splatting](https://mlsanity.com/paper/2508.14443/) (2025)

## Built on by (most cited first, 1 of 1)

- [Your Vision-Language-Action Model Already Has Attention Heads For Path Deviation Detection](https://mlsanity.com/paper/2603.13782/) (2026)

## Abstract (arXiv)

Advances in AI and Robotics have accelerated significant initiatives in agriculture, particularly in the areas of robot navigation and 3D digital twin creation. A significant bottleneck impeding this progress is the critical lack of "in-the-wild" datasets that capture the full complexities of real farmland, including non-rigid motion from wind, drastic illumination variance, and morphological changes resulting from growth. This data gap fundamentally limits research on robust AI models for autonomous field navigation and scene-level dynamic 3D reconstruction. In this paper, we present AgriChrono, a modular robotic data collection platform and multi-modal dataset designed to capture these dynamic farmland conditions. Our platform integrates multiple sensors, enabling remote, time-synchronized acquisition of RGB, Depth, LiDAR, IMU, and Pose data for efficient and repeatable long-term data collection in real-world agricultural environments. We successfully collected 18TB of data over one month, documenting the entire growth cycle of Canola under diverse illumination conditions. We benchmark state-of-the-art 3D reconstruction methods on AgriChrono, revealing the profound challenge of reconstructing high-fidelity, dynamic non-rigid scenes in such farmland settings. This benchmark validates AgriChrono as a critical asset for advancing model generalization, and its public release is expected to significantly accelerate research and development in precision agriculture. The code and dataset are publicly available at: https://github.com/StructuresComp/agri-chrono