The images were taken in vineyards owned by Bodegas Terras Gauda in September 2021.-- The camera used was a digital single-lens reflex camera, Canon EOS 7D. The camera was placed on-board a wheeled robot. Images were automatically taken at a speed of almost 1 fps, during the movement of the robot.-- The weather conditions when the images were collected were sunny., Creative Commons Attribution-NonCommercial-ShareAlike (CC-BY-NC-SA)., Set of images of vines affected by late stage Botritys., We acknowledge received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 101017111, FlexiGroBots project., Peer reviewed

SLAM (Simultaneous Localization and Mapping) is an efficient method for robot to percept surrendings and make decisions, especially for robots in agricultural scenarios. Perception and path planning in an automatic way is crucial for precision agriculture. However, there are limited public datasets to implement and develop robotic algorithms for agricultural environments. Therefore, we collected dataset “GrapeSLAM”. The ‘‘GrapeSLAM'' dataset comprises video data collected from vineyards to support agricultural robotics research. Data collection involved two primary methods: (1) unmanned aerial vehicle (UAV) for capturing videos under different illumination conditions, and (2) trajectories of the UAV during each flight collected by RTK and IMU. The UAV used was Phantom 4 RTK, equipped with a high resolution camera, flying at around 1 to 3 meters above ground level., The authors acknowledge the support of the Wageningen University, Chinese Academy of Agricultureal Sciences joint Ph.D. program. This work has also been carried out in the scope of the H2020 FlexiGroBots project, which the European Commission has funded in its H2020 program (contract number 101017111, https://flexigrobots-h2020.eu/ ). The authors acknowledge valuable help and contributions from Emilio Rodríguez and Pablo Fernández, from “Bodegas Ter- ras Gauda, S.A.”, Peer reviewed