This research data repository was developed and curated by Prof. Dr. Karsten Berns and Prof. Dr.-Ing. Patrick Wolf and is supported by the Rhineland-Palatinate Ministry of Economic Affairs, Transport, Agriculture and Viticulture (MWVLW RLP).

The repository provides multimodal data records that were collected as part of extensive off-road field tests with a Unimog vehicle under demanding real operating conditions. The records cover a variety of operating scenarios, including steep unpaved climbs, gravel terrain, forest trails, industrial areas and complex off-road intersections under varying environmental and mechanical conditions.

The data sets focus on robust terrain perception and vehicle mobility analysis. Obstacle detection, dynamic elevation changes, strong vehicle vibrations and challenging lighting changes due to dense vegetation and uneven terrain surfaces are recorded. The experimental recordings include uphill and downhill drives with gradients between 15° and 60° and enable a detailed investigation of vehicle behavior and sensor performance under extreme off-road conditions.

The synchronized sensor system includes:

• 3D LiDAR laser scanner

• camera systems

• IMU (Inertial Measurement Unit)

• GNSS systems

The data sets provided are used for research in the fields of autonomous off-road navigation, sensor fusion, environmental perception, localization and terrain-adaptive mobility systems.

This recording documents the vehicle driving along a rough, unpaved gravel terrain along an ascending driving trajectory towards a T-junction. The environment includes characteristic roadside elements, including scattered rock fragments and varying degrees of vegetation. Of particular note is the vehicle's approach to a pile of soil, which is detected and represented as a primary obstacle within the 3D laser point cloud data.

Quick access links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0001

DOI:https://doi.org/10.26204/data/15

Plain text: Berns, Karsten and Wolf, Patrick, "Uphill Gravel Terrain and Obstacle Detection", 2026, doi:10.26204/DATA/15.

BibTex:t3://file?uid=15121

Scenario description

The vehicle navigates along a descending driving trajectory through a Y-junction and follows the left off-road route. The scenario documents the transition from rough terrain to an industrial area of a waste disposal center, capturing structural environmental data despite significant camera-based image distortions due to vehicle vibrations. Recording ends when the vehicle reaches level terrain as it passes construction vehicles and various technical installations on its way back to the starting point.

Quick access links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0002

DOI:https://doi.org/10.26204/data/16

Plain text: Berns, Karsten and Wolf, Patrick, "Downhill Off-Road Descent and Industrial Structural Observation", 2026, doi:10.26204/DATA/16

BibTex: t3://file?uid=15116

Scenario description

This recording documents the vehicle's operational capability under extreme off-road conditions and is aimed in particular at several uphill maneuvers on different gradients between 15 and 60 degrees. The scenario includes two separate driving cycles over steep, unpaved inclines to capture topographical data and sensor responses under significant mechanical stress. The environment is characterized by loose ground and drastic elevation changes and provides a high-stress test case for 3D laser point cloud obstacle and terrain mapping.

Quick access links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0003

DOI:https://doi.org/10.26204/data/17

Plaintext: Berns, Karsten and Wolf, Patrick, "Extreme Hill Climbing: High-Angle Incline Performance", 2026, doi:10.26204/DATA/17

BibTex:t3://file?uid=15113

Scenario description

This recording documents the vehicle navigating a narrow path with dense vegetation on an uphill trajectory to a designated tent location. The scenario emphasizes off-road driving conditions through forested areas that require precise spatial perception. The 3D laser data illustrates the proximity of the environment and highlights the sensors' ability to map confined paths during steep climbs.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0004

DOI: https://doi.org/10.26204/data/18

Plain text: Berns, Karsten and Wolf, Patrick, "Extreme Uphill to Tent: Narrow Path Navigation", 2026, doi:10.26204/DATA/18

BibTex:t3://file?uid=15114

Scenario description

This recording documents the vehicle navigating a forest path characterized by uneven surfaces, varying textures and slight elevation changes. The dense canopy creates significant visual challenges, exposing the visual sensors to abrupt, high-contrast transitions between bright sunlight and deep shadows. The scenario captures sensor performance under these dynamic lighting conditions as the vehicle traverses the rough terrain towards a structural landmark.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0005

DOI:https://doi.org/10.26204/data/19

Plain text: Berns, Karsten and Wolf, Patrick, "Forest Path to Windmill: Variable Lighting and Terrain", 2026, doi:10.26204/DATA/19

BibTex:t3://file?uid=15115

Scenario description

This recording captures the vehicle performing steep descents along an off-road circuit. The driving scenario maintains a constant speed profile while navigating rough, unpaved terrain characterized by loose gravel and rocky surfaces. Located adjacent to a construction site, the data set provides sensor observations of the topographic gradient and surrounding structural environment during controlled, extreme downhill maneuvers.

Quick access links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0006

DOI: https://doi.org/10.26204/data/20

Plain text: Berns, Karsten and Wolf, Patrick, "Round Track Extreme Downhill: Constant Speed Descent", 2026, doi:10.26204/DATA/20

BibTex:t3://file?uid=15124

Scenario description

This recording captures the vehicle traversing steep, man-made mounds of earth and documents both uphill and downhill travel. The operational environment consists of extremely rough, loose earth terrain that generates significant amounts of airborne particles. The resulting dust actively covers and obscures the optical sensors, providing a specialized data set to evaluate camera performance and perception degradation in poor visibility conditions.

Quick links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0007

DOI: https://doi.org/10.26204/data/21

Plain text: Berns, Karsten and Wolf, Patrick, "Manmade Terrain Navigation and Visual Obscuration", 2026, doi:10.26204/DATA/21

BibTex:t3://file?uid=15120

Scenario description

This recording documents vehicle operation in muddy, debris-strewn terrain with significant water accumulation and uneven topographical features. The driving scenario is conducted under foggy meteorological conditions, resulting in slightly impaired visual visibility. The data set captures a downhill step maneuver, followed by a passage over rough scree, culminating in a failure to climb, providing critical sensor telemetry for low-friction, complex off-road environments.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0008

DOI:https://doi.org/10.26204/data/22

Plaintext: Berns, Karsten and Wolf, Patrick, "Muddy Rubble Transit and Uphill Failure ", 2026, doi:10.26204/DATA/22

BibTex:t3://file?uid=15119

Scenario description

This recording documents the vehicle navigating a moderate circuit characterized by rough, muddy terrain covered with rocks and debris. The driving scenario includes a downhill run followed by an attempted uphill run on the loose, yielding surface. The environment provides a low-traction test site, allowing the on-board sensors, including the 3D laser, to map the complex topography and spatial vehicle dynamics during the challenging climbing maneuver.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0009

DOI:https://doi.org/10.26204/data/23

Plain text: Berns, Karsten and Wolf, Patrick, "Moderate Round Track: Muddy Terrain and Hill Climb", 2026, doi:10.26204/DATA/23

Citation:t3://file?uid=15123

Scenario description

The recording captures vehicle operation along a muddy, irregular circuit located in an open landfill or construction environment with no adjacent built structures or vegetation. The primary driving maneuver involves climbing an artificial hill in low light conditions. The data set illustrates significant degradation of the optical sensors caused by the sub-optimal lighting conditions and physical obscuration from water or dust on the camera lens.

Quick access links:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0010

DOI:https://doi.org/10.26204/data/24

Plain text: Berns, Karsten and Wolf, Patrick, "Round Track: Muddy Terrain and Optical Degradation", 2026, doi:10.26204/DATA/24

BibTex:t3://file?uid=15122

Scenario description

This recording documents a scenario with a stationary vehicle in which the complete sensor suite including all active cameras is used. The data set captures dynamic interactions in close proximity and in particular records pedestrians moving around the stationary ego-vehicle. In addition, a second vehicle is tracked as it repeatedly traverses the area near a structural reference point and passes the ego-vehicle at specific intervals to provide localized data for motion and obstacle detection.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0011

DOI:https://doi.org/10.26204/data/25

Plain text: Berns, Karsten and Wolf, Patrick, "Full Sensor Suite: Pedestrian and Vehicle Interaction", 2026, doi:10.26204/DATA/25

BibTex:t3://file?uid=15117

Scenario description

This scenario records the vehicle traversing a challenging off-road environment consisting of loose gravel, significant debris and sparse vegetation. The data capture utilized the full sensor suite, which includes 3D lasers, safety lasers and stereo cameras. Driving maneuvers included navigation over significant rock accumulations on both uphill and downhill slopes, providing a comprehensive multimodal data set for rough terrain perception.

Quick access shortcuts:

https://fdm-fallback.uni-kl.de/RPTU/FB/Informatik/AG-Wolf/0012

DOI: https://doi.org/10.26204/data/26

Plaintext: Berns, Karsten and Wolf, Patrick, "Full Sensor Suite in Rough Terrain", 2026, doi:10.26204/DATA/26

BibTex:t3://file?uid=15118