FORWARD: Dataset of a forwarder operating in rough terrain
The FORWARD dataset comprises detailed sensor and log data from a Komatsu cut-to-length forwarder, collected during operations in challenging terrain as well as on gravel roads at two Swedish harvest sites. Sensor instrumentation includes RTK-GNSS for precise positioning, a 360-degree camera for visual documentation, operator seat vibration sensors, CAN-bus signal logging, and multiple IMUs mounted on the machine. The dataset provides time-stamped vehicle positions with centimeter-level accuracy, and machine event logs sampled at 5 Hz, covering variables such as driving speed, fuel consumption, and crane activity. Additionally, high resolution terrain data from helicopter-borne laser scanning (1500 points/m²) is included, along with StanForD production log files containing detailed event records for each work session.
Lundbäck, M., Wallin, E., Häggström, C., Nyström, M., Grönlund, A., Richardson, M., ... & Servin, M. (2025). FORWARD: Dataset of a forwarder operating in rough terrain. arXiv preprint arXiv:2511.17318.
Swedish University of Agricultural Sciences
Mistra Digital Forest, a research program funded by the Swedish Foundation for Strategic Environmental Research (Mistra) and the Swedish forestry industry
Explainable, Safe, Contact-Aware Planning and Control for Heavy Machinery Manipulation and Navigation (XSCAVE)
Including: Logistics, Combustion Technology, Recycling Technology, Tribology, Acoustics
Including: Silviculture, Forest Genetics, Forest Mycology, Forest Pathology, Forest Technology, Forest History, Forest Ecology, Forest Economics
The precision with which an optical instrument can produce separable images of different points on an object.
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Geodata/Drone_camera/Orthomosaic/MRV_drone_ortho_harvest_area.tif
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-25/MRV_20231025_102417_terrain_test_circuits.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_094210_terrain_test_circuit.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_101927_crane_mounted_camera.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_101938_crane_mounted_camera.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_102636_crane_mounted_camera.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_111728_details_machine.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_111949_details_machine.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/d58f2c49-cbdc-493b-b4b9-39c91bdeda20.mp4
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/dae/poly.dae
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly_0_occl_r8bVDVn1.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly_0_r8bVDVn1.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/8c5b96d7-f5fe-45fe-87f3-54faa7295c27.mp4
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_norm_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_occl_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.zip
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/6ede3483-a136-4935-844f-a09a00e91636.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_norm_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_occl_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/46519ba3-2531-4f95-b808-5416a7dcaebf.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_norm_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_occl_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/d0a83adc-d0f9-4f52-b226-e0e9a4a6e052.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_norm_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_occl_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/bae04217-9fda-4085-a59a-fc65e685b59b.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_norm_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_occl_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/80d6e2a2-9c29-4b04-b634-233407eff9f9.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_norm_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_occl_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/42777ab3-f576-4e63-8cc7-d6dba7f1b01b.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly_texture_0002.jpg
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