The Montmorency dataset

The Montmorency dataset

3D Mapping for forest inventory

Under construction

The dataset in now available for download on Academic Torrents. This dataset contains the ground truth species, diameter at breast height and position of more than 1000 trees across four forests, as well as 11 trajectories of a lidar-equipped robot going through these forests. It has been the subject of a publication at the 12th Conference on Field and Service Robotics.

More details will appear later as this work is still undergoing peer-review.


  1. Tremblay, J.-F., Béland, M., Pomerleau, F., Gagnon, R., & Giguère, P. (2019). Automatic 3D Mapping for Tree Diameter Measurements in Inventory Operations. In Proceedings of the Conference on Field and Service Robotics (FSR). Springer Tracts in Advanced Robotics. PDF Slides Bibtex source