Mobile Ground-Truth 3D Detection Environment for Agricultural Robot Field Testing

Safety and performance validation of autonomous agricultural robots is critically dependent on realistic, mobile test environments that provide high-fidelity ground truth. Existing infrastructures focus on either component-level sensor evaluation in fixed setups or system-level black-box testing under constrained conditions, lacking true mobility, multi-object capability and tracking or detecting objects in multiple Degrees Of Freedom (DOFs) in unstructured fields. In this paper, we present a sensor station network designed to overcome these limitations. Our mobile testbed consists of self-powered stations, each equipped with a high-resolution 3D-Light Detection And Ranging (LiDAR) sensor, dual-antenna Global Navigation Satellite System (GNSS) receivers and on-board edge computers. By synchronising over GNSS time and calibrating rigid LiDAR-to-LiDAR transformations, we fuse point clouds from multiple stations into a coherent geometric representation of a real agricultural environment, which we sample at up to 20 Hz. We demonstrate the performance of the system in field experiments with an autonomous robot traversing a 26,000 m² area at up to 20 km/h. Our results show continuous and consistent detections of the robot even at the field boundaries. This work will enable a comprehensive evaluation of geofencing and environmental perception capabilities, paving the way for safety and performance benchmarking of agricultural robot systems.