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The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)\/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. 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(CONICET-UNR), Argentina"}]},{"given":"Javier","family":"Civera","sequence":"additional","affiliation":[{"name":"I3A, University of Zaragoza, Spain"}]},{"given":"Ernesto","family":"Kofman","sequence":"additional","affiliation":[{"name":"CIFASIS, French Argentine International Center for Information and Systems Sciences (CONICET-UNR), 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