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Awesome SLAM Datasets Awesome

image

Thumbnail Figures from Complex Urban, NCLT, Oxford robotcar, KiTTi, Cityscapes datasets.

This repository is the collection of SLAM-related datasets. Among various SLAM datasets, we've selected the datasets provide pose and map information. This repository is linked to the google site. In this repository, the overall dataset chart is represented as simplified version. You can use full version of the chart (made by google spreadsheet) in the project page.

We provide several category for each access of the data.

News !!

Update: 2024-07-31

  • Add FusionPortable Series (V1: Campus-scene with diverse platforms, V2: From Campus to Highway, scalable environments.)

Update: 2024-4-18

  • Add VBR SLAM Dataset

Update: 2023-06-20

  • Add 4Seasons
  • Add M2DGR
  • Add Tartanair

Update: 2022-8-15

  • Add VECtor Dataset

Update: 2022-04-07

  • Add Hilti SLAM Dataset

Update: 2021-03-24

  • Add PennCosyVIO

Update: 2021-02-26

  • We add a new visual localization and mapping dataset named "ICL Dataset".
  • Added OpenVINS evaulation toolbox link.

Update: 2020-02-29

  • We updated SLAMBench from version 2.0 to 3.0.

Update: 2019-09-24

TODO

Category

Overall datasets chart (Simplified Version)

Link to Full version

Shortname Affiliation Year Platform Publication Environment GT-Pose GT-Map IMU GPS Labels Lidar Cameras RGBD Event Radar Sonar DVL Other
VBR SLAM Dataset Sapienza University of Rome 2024 Hand, Veh ICRA Indoor + Outdoor O O O O Stereo Cams; Multiple configuration; SLAM Benchmark
4Seasons Dataset Technical University of Munich 2020 Veh GCPR Outdoor O O O O O O O O
M2DGR Shanghai Jiaotong University 2021 Mob RA-L Indoor + Outdoor O O O O O O O
TartanAir CMU 2020 UAV IROS Simulation O O O O O
VECtor Dataset ShanghaiTech University 2022 Hand RA-L Indoor + Outdoor O O O O O O
Hilti SLAM Dataset Hilti, Oxford, UZH 2022 Hand Indoor + Outdoor O O O O O
MADMAX Mars Dataset German Aerospace Center (DLR) 2021 Handheld Rover-Mockup JFR Rough Terrain, Planetary analog O O O O O Stereo Cams + Stereo Omnidirectional Cameras; Navigation Benchmark
FinnForest Dataset Tampere University 2020 Veh RAS journal Forest, Terrain O O Multiple Stereo Pairs ; Sampling Rate(40, 13, and 8Hz)
PennCOSYVIO Dataset University of Pennsylvania 2017 Hand ICRA Indoor + Outdoor O O O
ICL Dataset Imperial College 2019 Hand, MAV ICRA Indoor O O O
UZH-FPV Drone Racing UZH, ETH 2019 UAV ICRA Indoor, Urban O O O O
FMDataset Hangzhou Dianzi / Tsinghua 2019 Hand ICME Indoor O O
Rosario Dataset CONICET-UNR 2019 Mob IJRR Terrain O O O Encoder
Collaborative SLAM Dataset (CSD) Oxford 2018 Hand TVCG/ISMAR Indoor O O O O O Tango (Asus ZenFone AR)
ADVIO Dataset Aalto U 2018 Hand ECCV Urban O O O O iPhone, Tango, Pixel
DeepIO Dataset Oxford 2018 Hand Arxiv Indoor O O
Aqualoc Dataset ONERA-DTIS 2018 ROV IROS WS Underwater O O O Pressure Sensor
InteriorNet Imperial College 2018 Hand BMVC Indoor O O O O O O O Texture, Lighting, Context, Optical Flow
SPO Dataset TUM, Karlsruhe 2018 Hand Arxiv Urban O O Plenoptic Camera
Complex Urban KAIST-IRAP 2018 Veh ICRA Urban O O O O O Encoder
KAIST Day/Night KAIST-RCV 2018 Veh T-ITS Urban O O O O O O Thermal Camera
TUM-Visual-Inertial TUM 2018 Hand Arxiv Indoor, Urban O O O
Multi Vech Event Upenn 2018 Veh RA-L Urban O O O O O O
VI Canoe UIUC 2018 USV IJRR Terrain O O O O
MPO-Japan ETH-RPG 2017 UAV / Hand IJRR Indoor O O O O
Underwater Cave UDG 2017 AUV IJRR Underwater O O O O O Profiling Sonar
Robot @ Home MRPT 2017 Mob IJRR Indoor O O O O O Semantic Labels
Zurich Urban MAV ETH-RPG 2017 UAV IJRR Urban O O O O Streetview images
Chilean Underground Trimble 2017 Mob IJRR Terrain (Underground) O O O O Encoder
SceneNet RGB-D Imperial 2017 Hand ICCV Indoor O O O
Symphony Lake Georgia Tech 2017 USV IJRR Terrain (Lake) O O O O PTZ camera, Longterm
Agricultural robot Bonn 2017 Mob IJRR Terrain O O O O O O Multispectral camera
Beach Rover TEC-MMA 2017 Mob Terrain O O O O O O Encoder
EuRoC ETH-ASL 2016 UAV IJRR Indoor O O O O
Cartographer Google 2016 Hand ICRA Indoor O O O
TUM-Mono TUM 2016 Hand Arxiv Indoor, Urban O Photometric Calibration
Cityscape Daimler AG 2016 Veh CVPR Urban O O O O
Solar-UAV ETHZ 2016 UAV CVPR Terrain O O O O O
CoRBS DFKI 2016 Hand WACV Indoor O O O
Oxford-robotcar Oxford 2016 Veh IJRR Urban O O O O O
NCLT UMich 2016 Mob IJRR Urban O O O O FOG
RPG-event Kyushu U 2016 Veh IROS Urban, Terrain O O O O FARO 3D
CCSAD CIMAT 2015 Veh CAIP Urban O O O
TUM-Omni TUM 2015 Hand IROS Indoor, Urban O
Augmented ICL-NUIM Redwood 2015 Hand CVPR Indoor O O O
Cambridge Landmark Cambridge 2015 Hand ICCV Urban O O O
ICL-NUIM Imperial 2014 Hand ICRA Indoor O O O
MRPT-Malaga MRPT 2014 Veh AR Urban O O O O
KITTI KIT 2013 Veh IJRR Urban O O O O O O
Canadian Planetary UToronto 2013 Mob IJRR Terrain O O O O (sensor) O
Microsoft 7 scenes Microsoft 2013 Hand CVPR Indoor O O O
SeqSLAM QUT 2012 Veh ICRA Urban O O
ETH-challenging ETH-ASL 2012 Hand IJRR Urban, Terrain O O O O O
TUM-RGBD TUM 2012 Hand / Mob IROS Indoor O O O
ASRL-Kagara-airborne UToronto 2012 UAV FSR Terrain O O O
Devon Island Rover UToronto 2012 Mob IJRR Terrain O O O Sunsensor, Inclinometer
ACFR Marine ACFR 2012 AUV Underwater O O O O O
UTIAS Multi-Robot UT-IAS 2011 Mob IJRR Urban O O
Ford Campus UMich 2011 Veh IJRR Urban O O O O O
San francisco Stanford 2011 Veh CVPR Urban O O O O O DMI
Annotated-laser NTU 2011 Veh IJRR Urban O O O O
MIT-DARPA MIT 2010 Veh IJRR Urban O O O O O O
St Lucia Stereo UToronto 2010 Veh ACRA Urban O O O
St Lucia Multiple Times QUT 2010 Veh ICRA Urban O O
Marulan ACFR 2010 Mob IJRR Terrain O O O O O O IR
COLD KTH 2009 Hand IJRR Indoor O O O O
NewCollege Oxford-Robot 2009 Mob IJRR Urban O O O O O
Rawseeds-indoor Milano 2009 Mob IROSW Indoor O O O O O O
Rawseeds-outdoor Milano 2009 Mob IROSW Urban O O O O O O O
FABMAP Oxford-Robot 2008 Veh IJRR Urban O O

Evaluation

Evaluation methods for SLAM benchmarks

  • Trajectory Evaluation with Alignment [Paper], [Code]
  • Python package for the evaluation of odometry and SLAM [Code]
  • SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding [Paper], [Code]
  • OpenVINS ov_eval Trajectory Evaulation and Alignment, Timing, and Plotting [Paper], [Docs], [Code]

Categorized By Topic

Odometry

Dataset for odometry Benchmark

Mapping

Dataset for mapping task

Place Recognition

Dataset gives correspondences of places (images)

Localization

Dataset for metric-level localization

Perception

Dataset with semantic labels / correspondences

Categorized By Characteristics

Large-scale

City-scale map, kilometer level Map

Long-term

Multi-session, long-term data collection

Map Complexity

Variation of mapping structures

Extreme Condition

Extreme environment, motions

Categorized by Platform

Vehicle

Commercial Vehicle (Four-wheeled on the road)

Mobile Robot

Mobile Robots (Ex. Husky, Rover.. )

Unmanned Aerial Vehicle

Unmanned aerial robots include drone

Autonomous Underwater Vehicle

Underwater robots include ROV for simplicity

Unmanned Surface Vehicle

Water surface vehicle such as canoe and boat

Hand-held Device

Hand-held platform by human

Categorized by Environment

Urban

_City, campus, town, and infrastructures

Indoor

Indoor environment

Terrain

Rough terrain, underground, lake and farm

Underwater

Underwater floor, cave

Simulation

Simulation Scene

Contributing

Please Feel free to send a pull request to modify the list or add datasets.

License

CC0

To the extent possible under law, Younggun Cho has waived all copyright and related or neighboring rights to this work.