├── README.md └── figs ├── awesome_datasets_thumbnails.png └── tab_ex.png /README.md: -------------------------------------------------------------------------------- 1 | 2 | 3 | # Awesome SLAM Datasets [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome) 4 | 5 | ![image](figs/awesome_datasets_thumbnails.png) 6 | >Thumbnail Figures from Complex Urban, NCLT, Oxford robotcar, KiTTi, Cityscapes datasets. 7 | 8 | 9 | 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](https://sites.google.com/view/awesome-slam-datasets/). 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](https://sites.google.com/view/awesome-slam-datasets/). 10 | 11 | We provide several category for each access of the data. 12 | 13 | ## News !! 14 | 15 | ## Update: 2024-07-31 16 | - Add FusionPortable Series (V1: Campus-scene with diverse platforms, V2: From Campus to Highway, scalable environments.) 17 | 18 | ## Update: 2024-4-18 19 | - Add VBR SLAM Dataset 20 | 21 | ## Update: 2023-06-20 22 | - Add 4Seasons 23 | - Add M2DGR 24 | - Add Tartanair 25 | 26 | ## Update: 2022-8-15 27 | - Add VECtor Dataset 28 | 29 | ## Update: 2022-04-07 30 | - Add Hilti SLAM Dataset 31 | 32 | ## Update: 2021-03-24 33 | - Add PennCosyVIO 34 | 35 | ### Update: 2021-02-26 36 | - We add a new visual localization and mapping dataset named "ICL Dataset". 37 | - Added OpenVINS evaulation toolbox link. 38 | 39 | ### Update: 2020-02-29 40 | - We updated SLAMBench from version 2.0 to 3.0. 41 | 42 | ### Update: 2019-09-24 43 | - We add [FMDataset](https://github.com/zhuzunjie17/FastFusion) which consist on RGBD and IMU data for dense reconstruction of indoor environments 44 | - In ICRA 2019 (Montreal), workshop on ['Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR'](https://sites.google.com/view/icra-2019-workshop/home) will be held!. We are pretty sure that there will be many 'new' and 'hot' datasets intruduced at the workshop. 45 | - We add [evaluation section](#evaluation) (Tools for trajectory and SLAM methods evaluation) 46 | - We add a new UAV dataset, [UZH-FPV Drone Racing Dataset](http://rpg.ifi.uzh.ch/uzh-fpv.html), which aims high speed state estimation using RGB, Event, and IMU. 47 | - [Complex Urban Dataset (KAIST)](https://sites.google.com/view/complex-urban-dataset) now includes stereo camera images! (published in IJRR 2019) 48 | 49 | ## TODO 50 | - Add datasets introduced in CVPR 2019 51 | - Waymo (https://waymo.com/open) 52 | - Nuscenes (https://www.nuscenes.org/) 53 | - ... 54 | - Add Simulation datast category 55 | - CARLA 56 | - Airsim 57 | - Syncity 58 | 59 | ## Category 60 | - [Awesome SLAM Datasets ](#awesome-slam-datasets-) 61 | - [News !!](#news-) 62 | - [Update: 2024-07-31](#update-2024-07-31) 63 | - [Update: 2023-06-20](#update-2023-06-20) 64 | - [Update: 2022-8-15](#update-2022-8-15) 65 | - [Update: 2022-04-07](#update-2022-04-07) 66 | - [Update: 2021-03-24](#update-2021-03-24) 67 | - [Update: 2021-02-26](#update-2021-02-26) 68 | - [Update: 2020-02-29](#update-2020-02-29) 69 | - [Update: 2019-09-24](#update-2019-09-24) 70 | - [TODO](#todo) 71 | - [Category](#category) 72 | - [Overall datasets chart (Simplified Version)](#overall-datasets-chart-simplified-version) 73 | - [Evaluation](#evaluation) 74 | - [Categorized By Topic](#categorized-by-topic) 75 | - [Odometry](#odometry) 76 | - [Mapping](#mapping) 77 | - [Place Recognition](#place-recognition) 78 | - [Localization](#localization) 79 | - [Perception](#perception) 80 | - [Categorized By Characteristics](#categorized-by-characteristics) 81 | - [Large-scale](#large-scale) 82 | - [Long-term](#long-term) 83 | - [Map Complexity](#map-complexity) 84 | - [Extreme Condition](#extreme-condition) 85 | - [Categorized by Platform](#categorized-by-platform) 86 | - [Vehicle](#vehicle) 87 | - [Mobile Robot](#mobile-robot) 88 | - [Unmanned Aerial Vehicle](#unmanned-aerial-vehicle) 89 | - [Autonomous Underwater Vehicle](#autonomous-underwater-vehicle) 90 | - [Unmanned Surface Vehicle](#unmanned-surface-vehicle) 91 | - [Hand-held Device](#hand-held-device) 92 | - [Categorized by Environment](#categorized-by-environment) 93 | - [Urban](#urban) 94 | - [Indoor](#indoor) 95 | - [Terrain](#terrain) 96 | - [Underwater](#underwater) 97 | - [Simulation](#simulation) 98 | - [Contributing](#contributing) 99 | - [License](#license) 100 | 101 | ## Overall datasets chart (Simplified Version) 102 | [Link to Full version](https://sites.google.com/view/awesome-slam-datasets/) 103 | 104 | | Shortname | Affiliation | Year | Platform | Publication | Environment | GT-Pose | GT-Map | IMU | GPS | Labels | Lidar | Cameras | RGBD | Event | Radar | Sonar | DVL | Other | 105 | |----------------------------------------------------------------------------------------------------------|--------------|------|------------|-------------|-----------------------|---------|--------|-----|-----|--------|------------|---------|------|-------|-------|-------|-----|-------------------------| 106 | | [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) | Sapienza University of Rome| 2024 | Hand, Veh | ICRA | Indoor + Outdoor | O | |O | | |O |O | | | | | |Stereo Cams; Multiple configuration; SLAM Benchmark | 107 | | [4Seasons Dataset](https://www.4seasons-dataset.com/) | Technical University of Munich| 2020 | Veh | GCPR | Outdoor | O | O | O | O | | O | O | O | O | | | | 108 | | [M2DGR](https://github.com/SJTU-ViSYS/M2DGR/) | Shanghai Jiaotong University | 2021 | Mob | RA-L | Indoor + Outdoor | O | | O | O | | O | O | O | O | | | | 109 | | [TartanAir](https://theairlab.org/tartanair-dataset/) | CMU | 2020 | UAV | IROS | Simulation | O | O | O | | | | O | | O | | | | | 110 | | [VECtor Dataset](https://star-datasets.github.io/vector/) | ShanghaiTech University | 2022 | Hand | RA-L | Indoor + Outdoor | O | | O | | | O | O | O | O | | | | | 111 | | [Hilti SLAM Dataset](https://hilti-challenge.com/) | Hilti, Oxford, UZH | 2022 | Hand | | Indoor + Outdoor | O | O | O | | | O | O | | | | | | | 112 | | [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) | 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 | 113 | | [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) | Tampere University | 2020 | Veh | RAS journal | Forest, Terrain | O | | | | | | O | | | | | | Multiple Stereo Pairs ; Sampling Rate(40, 13, and 8Hz) | 114 | | [PennCOSYVIO Dataset](https://daniilidis-group.github.io/penncosyvio/) | University of Pennsylvania | 2017 | Hand | ICRA | Indoor + Outdoor | O | | O | | | | O | | | | | | | 115 | | [ICL Dataset](https://peringlab.org/lmdata/) | Imperial College | 2019 | Hand, MAV | ICRA | Indoor | O | | | | | | O | O | | | | | | 116 | | [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) | UZH, ETH | 2019 | UAV | ICRA | Indoor, Urban | O | | O | | | | O | | O | | | | | 117 | | [FMDataset](https://github.com/zhuzunjie17/FastFusion) | Hangzhou Dianzi / Tsinghua | 2019 | Hand | ICME | Indoor | | | O | | | | | O | | | | | | 118 | | [Rosario Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) | CONICET-UNR | 2019 | Mob | IJRR | Terrain | O | | O | | | | O | | | | | | Encoder | 119 | | [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) | Oxford | 2018 | Hand | TVCG/ISMAR | Indoor | O | O | O | | | | O | O | | | | | Tango (Asus ZenFone AR) 120 | | [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) | Aalto U | 2018 | Hand | ECCV | Urban | O | O | O | | | | O | | | | | | iPhone, Tango, Pixel | 121 | | [DeepIO Dataset](http://deepio.cs.ox.ac.uk/) | Oxford | 2018 | Hand | Arxiv | Indoor | O | | O | | | | | | | | | | | 122 | | [Aqualoc Dataset](http://www.lirmm.fr/aqualoc/) | ONERA-DTIS | 2018 | ROV | IROS WS | Underwater | O | | O | | | | O | | | | | | Pressure Sensor | 123 | | [InteriorNet](https://interiornet.org/) | Imperial College | 2018 | Hand | BMVC | Indoor | O | O | O | | O | | O | O | O | | | | Texture, Lighting, Context, Optical Flow | 124 | | [SPO Dataset](https://www.hs-karlsruhe.de/odometry-data/) | TUM, Karlsruhe | 2018 | Hand | Arxiv | Urban | O | | | | | | O | | | | | | Plenoptic Camera | 125 | | [Complex Urban](https://sites.google.com/view/complex-urban-dataset) | KAIST-IRAP | 2018 | Veh | ICRA | Urban | O | O | O | O | | O | | | | | | | Encoder | 126 | | [KAIST Day/Night](https://sites.google.com/view/multispectral/home) | KAIST-RCV | 2018 | Veh | T-ITS | Urban | O | | O | O | O | O | O | | | | | | Thermal Camera | 127 | | [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) | TUM | 2018 | Hand | Arxiv | Indoor, Urban | | | O | | | | | O | | O | | | | 128 | | [Multi Vech Event](https://daniilidis-group.github.io/mvsec/) | Upenn | 2018 | Veh | RA-L | Urban | O | | O | O | | O | O | | O | | | | | 129 | | [VI Canoe](https://databank.illinois.edu/datasets/IDB-9342111) | UIUC | 2018 | USV | IJRR | Terrain | O | | O | O | | | O | | | | | | | 130 | | [MPO-Japan](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) | ETH-RPG | 2017 | UAV / Hand | IJRR | Indoor | O | | O | | | | O | | O | | | | | 131 | | [Underwater Cave](http://cirs.udg.edu/caves-dataset/) | UDG | 2017 | AUV | IJRR | Underwater | O | | O | | | | O | | | | O | O | Profiling Sonar | 132 | | [Robot @ Home](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) | MRPT | 2017 | Mob | IJRR | Indoor | O | O | | | O | O | | O | | | | | Semantic Labels | 133 | | [Zurich Urban MAV](http://rpg.ifi.uzh.ch/zurichmavdataset.html) | ETH-RPG | 2017 | UAV | IJRR | Urban | O | | O | O | | | O | | | | | | Streetview images | 134 | | [Chilean Underground](http://dataset.amtc.cl/#) | Trimble | 2017 | Mob | IJRR | Terrain (Underground) | O | | | | | O | O | | | O | | | Encoder | 135 | | [SceneNet RGB-D](https://robotvault.bitbucket.io/scenenet-rgbd.html) | Imperial | 2017 | Hand | ICCV | Indoor | O | | | | O | | | O | | | | | | 136 | | [Symphony Lake](http://dream.georgiatech-metz.fr/?q=node/79) | Georgia Tech | 2017 | USV | IJRR | Terrain (Lake) | | | O | O | | O | O | | | | | | PTZ camera, Longterm | 137 | | [Agricultural robot](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) | Bonn | 2017 | Mob | IJRR | Terrain | O | | | O | O | O | O | O | | | | | Multispectral camera | 138 | | [Beach Rover](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) | TEC-MMA | 2017 | Mob | | Terrain | O | | O | O | | O | O | O | | | | | Encoder | 139 | | [EuRoC](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) | ETH-ASL | 2016 | UAV | IJRR | Indoor | O | O | O | | | | O | | | | | | | 140 | | [Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) | Google | 2016 | Hand | ICRA | Indoor | | | O | | | O | O | | | | | | | 141 | | [TUM-Mono](https://vision.in.tum.de/data/datasets/mono-dataset) | TUM | 2016 | Hand | Arxiv | Indoor, Urban | | | | | | | | | | O | | | Photometric Calibration | 142 | | [Cityscape](https://www.cityscapes-dataset.com/) | Daimler AG | 2016 | Veh | CVPR | Urban | O | | | O | O | | O | | | | | | | 143 | | [Solar-UAV](http://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) | ETHZ | 2016 | UAV | CVPR | Terrain | O | O | O | O | | O | | | | | | | | 144 | | [CoRBS](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) | DFKI | 2016 | Hand | WACV | Indoor | O | O | | | | | | O | | | | | | 145 | | [Oxford-robotcar](http://robotcar-dataset.robots.ox.ac.uk) | Oxford | 2016 | Veh | IJRR | Urban | O | | O | O | | O | O | | | | | | | 146 | | [NCLT](http://robots.engin.umich.edu/nclt/) | UMich | 2016 | Mob | IJRR | Urban | O | | O | O | | O | | | | | | | FOG | 147 | | [RPG-event](http://rpg.ifi.uzh.ch/davis_data.html) | Kyushu U | 2016 | Veh | IROS | Urban, Terrain | | | O | O | | O | O | | | | | | FARO 3D | 148 | | [CCSAD](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) | CIMAT | 2015 | Veh | CAIP | Urban | | | O | O | | | O | | | | | | | 149 | | [TUM-Omni](https://vision.in.tum.de/data/datasets/omni-lsdslam) | TUM | 2015 | Hand | IROS | Indoor, Urban | | | | | | | O | | | | | | | 150 | | [Augmented ICL-NUIM](http://redwood-data.org/indoor/index.html) | Redwood | 2015 | Hand | CVPR | Indoor | O | O | | | | | | O | | | | | | 151 | | [Cambridge Landmark](http://mi.eng.cam.ac.uk/projects/relocalisation/) | Cambridge | 2015 | Hand | ICCV | Urban | O | O | | | | | O | | | | | | | 152 | | [ICL-NUIM](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) | Imperial | 2014 | Hand | ICRA | Indoor | O | O | | | | | | O | | | | | | 153 | | [MRPT-Malaga](https://www.mrpt.org/robotics_datasets) | MRPT | 2014 | Veh | AR | Urban | | | O | O | | O | O | | | | | | | 154 | | [KITTI](http://www.cvlibs.net/datasets/kitti/index.php) | KIT | 2013 | Veh | IJRR | Urban | O | | O | O | O | O | O | | | | | | | 155 | | [Canadian Planetary](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) | UToronto | 2013 | Mob | IJRR | Terrain | O | | O | O | | O (sensor) | O | | | | | | | 156 | | [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) | Microsoft | 2013 | Hand | CVPR | Indoor | O | O | | | | | O | | | | | | | 157 | | [SeqSLAM](https://ieeexplore.ieee.org/document/6224623) | QUT | 2012 | Veh | ICRA | Urban | | | | | O | | O | | | | | | | 158 | | [ETH-challenging](http://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) | ETH-ASL | 2012 | Hand | IJRR | Urban, Terrain | | | O | O | | O | O | O | | | | | | 159 | | [TUM-RGBD](https://vision.in.tum.de/data/datasets/rgbd-dataset) | TUM | 2012 | Hand / Mob | IROS | Indoor | O | | O | | | | | O | | | | | | 160 | | [ASRL-Kagara-airborne](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) | UToronto | 2012 | UAV | FSR | Terrain | | | O | O | | | O | | | | | | | 161 | | [Devon Island Rover](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) | UToronto | 2012 | Mob | IJRR | Terrain | O | | | O | | | O | | | | | | Sunsensor, Inclinometer | 162 | | [ACFR Marine](http://marine.acfr.usyd.edu.au/datasets/) | ACFR | 2012 | AUV | | Underwater | O | | O | | O | | O | | | | O | | | 163 | | [UTIAS Multi-Robot](http://asrl.utias.utoronto.ca/datasets/mrclam/) | UT-IAS | 2011 | Mob | IJRR | Urban | O | | | | O | | | | | | | | | 164 | | [Ford Campus](http://robots.engin.umich.edu/SoftwareData/Ford) | UMich | 2011 | Veh | IJRR | Urban | O | | O | O | | O | O | | | | | | | 165 | | [San francisco](https://sites.google.com/site/chenmodavid/datasets) | Stanford | 2011 | Veh | CVPR | Urban | O | | O | O | O | | O | | | | | | DMI | 166 | | [Annotated-laser](https://journals.sagepub.com/doi/10.1177/0278364910389840) | NTU | 2011 | Veh | IJRR | Urban | O | | | | O | O | O | | | | | | | 167 | | [MIT-DARPA](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) | MIT | 2010 | Veh | IJRR | Urban | O | | O | O | O | O | O | | | | | | | 168 | | [St Lucia Stereo](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) | UToronto | 2010 | Veh | ACRA | Urban | | | O | O | | | O | | | | | | | 169 | | [St Lucia Multiple Times](https://ieeexplore.ieee.org/abstract/document/5509547) | QUT | 2010 | Veh | ICRA | Urban | | | | O | | | O | | | | | | | 170 | | [Marulan](http://sdi.acfr.usyd.edu.au/) | ACFR | 2010 | Mob | IJRR | Terrain | O | | O | O | | O | O | | | O | | | IR | 171 | | [COLD](https://www.nada.kth.se/cas/COLD/) | KTH | 2009 | Hand | IJRR | Indoor | O | | | | O | O | O | | | | | | | 172 | | [NewCollege](http://www.robots.ox.ac.uk/NewCollegeData/) | Oxford-Robot | 2009 | Mob | IJRR | Urban | O | | O | O | | O | O | | | | | | | 173 | | [Rawseeds-indoor](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) | Milano | 2009 | Mob | IROSW | Indoor | O | O | O | | | O | O | | | | O | | | 174 | | [Rawseeds-outdoor](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) | Milano | 2009 | Mob | IROSW | Urban | O | O | O | O | | O | O | | | | O | | | 175 | | [FABMAP](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) | Oxford-Robot | 2008 | Veh | IJRR | Urban | | | | O | | | O | | | | | | | 176 | 177 | 178 | ## Evaluation 179 | _Evaluation methods for SLAM benchmarks_ 180 | - Trajectory Evaluation with Alignment [[Paper](http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf)], [[Code](https://github.com/uzh-rpg/rpg_trajectory_evaluation)] 181 | - Python package for the evaluation of odometry and SLAM [[Code](https://michaelgrupp.github.io/evo/)] 182 | - SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding [[Paper](https://www.sajad-saeedi.ca/uploads/3/8/5/9/38597021/sb3.pdf)], [[Code](https://github.com/mihaibujanca/slambench3)] 183 | - OpenVINS ov_eval Trajectory Evaulation and Alignment, Timing, and Plotting [[Paper](http://udel.edu/~pgeneva/downloads/papers/c10.pdf)], [[Docs](https://docs.openvins.com/evaluation.html)], [[Code](https://github.com/rpng/open_vins/)] 184 | 185 | ## Categorized By Topic 186 | 187 | ### Odometry 188 | _Dataset for odometry Benchmark_ 189 | - [FusionPortable](https://fusionportable.github.io/dataset/fusionportable/) 190 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 191 | - [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) 192 | - [ICL Dataset](https://peringlab.org/lmdata/) 193 | - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) 194 | - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) 195 | - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) 196 | - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) 197 | - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) 198 | - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) 199 | - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) 200 | - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) 201 | - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) 202 | - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) 203 | - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) 204 | - [Google Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) 205 | - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) 206 | - [Deep Inertial Odometry Dataset](http://deepio.cs.ox.ac.uk/) 207 | - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) 208 | - [Rosario Agricultural Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) 209 | - [Stereo Plenoptic Odometry Dataset](https://www.hs-karlsruhe.de/odometry-data/) 210 | - [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) 211 | - [Hilti SLAM Dataset](https://hilti-challenge.com/) 212 | - [VECtor Dataset](https://star-datasets.github.io/vector/) 213 | ### Mapping 214 | _Dataset for mapping task_ 215 | - [FusionPortable](https://fusionportable.github.io/dataset/fusionportable/) 216 | - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) 217 | - [Complex Urban](https://sites.google.com/view/complex-urban-dataset) 218 | - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) 219 | - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) 220 | - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) 221 | - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) 222 | - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) 223 | - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) 224 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 225 | - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) 226 | - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) 227 | - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) 228 | - [InteriorNet](https://interiornet.org/) 229 | - [FMDataset](https://github.com/zhuzunjie17/FastFusion) 230 | - [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) 231 | 232 | ### Place Recognition 233 | _Dataset gives correspondences of places (images)_ 234 | - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) 235 | - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) 236 | - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) 237 | - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) 238 | - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) 239 | - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) 240 | 241 | ### Localization 242 | _Dataset for metric-level localization_ 243 | - [FusionPortable](https://fusionportable.github.io/dataset/fusionportable/) 244 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 245 | - [ICL Dataset](https://peringlab.org/lmdata/) 246 | - [Cambridge Landmark Dataset](http://mi.eng.cam.ac.uk/projects/relocalisation/) 247 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 248 | - [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) 249 | - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) 250 | - [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) 251 | 252 | 253 | ### Perception 254 | _Dataset with semantic labels / correspondences_ 255 | - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) 256 | - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) 257 | - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) 258 | - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) 259 | - [CityScapes Dataset](https://www.cityscapes-dataset.com/) 260 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 261 | - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) 262 | - [InteriorNet](https://interiornet.org/) 263 | - [FusionPortableV2](https://fusionportable.github.io/dataset/fusionportable_v2/) 264 | 265 | ## Categorized By Characteristics 266 | 267 | ### Large-scale 268 | _City-scale map, kilometer level Map_ 269 | - [FusionPortableV2](https://fusionportable.github.io/dataset/fusionportable_v2/) 270 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 271 | - [Complex Urban](https://sites.google.com/view/complex-urban-dataset) 272 | - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) 273 | - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) 274 | - [CityScapes Dataset](https://www.cityscapes-dataset.com/) 275 | - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) 276 | - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) 277 | - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) 278 | - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) 279 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 280 | - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) 281 | - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) 282 | 283 | ### Long-term 284 | _Multi-session, long-term data collection_ 285 | - [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) 286 | - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) 287 | - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) 288 | - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) 289 | - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) 290 | - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) 291 | - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) 292 | - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) 293 | 294 | ### Map Complexity 295 | _Variation of mapping structures_ 296 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 297 | - [Complex Urban](https://sites.google.com/view/complex-urban-dataset/) 298 | - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) 299 | - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) 300 | - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) 301 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 302 | - [Challenging data sets for point cloud registration - algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) 303 | 304 | ### Extreme Condition 305 | _Extreme environment, motions_ 306 | - [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) 307 | - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) 308 | - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/): Underwater Environment 309 | - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#): Underground Environment 310 | - [CityScapes Dataset](https://www.cityscapes-dataset.com/): Foggy Scene 311 | - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets): Fast motion 312 | - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/): Smoky, dust, and Rain condition 313 | 314 | ## Categorized by Platform 315 | 316 | ### Vehicle 317 | _Commercial Vehicle (Four-wheeled on the road)_ 318 | - [FusionPortableV2 Dataset](https://fusionportable.github.io/dataset/fusionportable_v2/) 319 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 320 | - [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) 321 | - [Complex Urban Dataset](https://sites.google.com/view/complex-urban-dataset/) 322 | - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) 323 | - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) 324 | - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) 325 | - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) 326 | - [CityScapes Dataset](https://www.cityscapes-dataset.com/) 327 | - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) 328 | - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) 329 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 330 | - [Day and Night with Lateral Pose Change Dataset](https://wiki.qut.edu.au/display/cyphy/Day+and+Night+with+Lateral+Pose+Change+Datasets) 331 | - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) 332 | - [Annotated-laser Dataset](http://any.csie.ntu.edu.tw/data) (Link Broken) 333 | - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) 334 | - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) 335 | - [St Lucia Stereo Vehicular Dataset](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) 336 | - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) 337 | - [MIT DARPA Urban Challenge Dataset](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) 338 | - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) 339 | 340 | 341 | ### Mobile Robot 342 | _Mobile Robots (Ex. Husky, Rover.. )_ 343 | - [Rosario Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) 344 | - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) 345 | - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) 346 | - [Katwijk Beach Planetary Rover Dataset](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) 347 | - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) 348 | - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) 349 | - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) 350 | - [Canadian Planetary Emulation Terrain 3D Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) 351 | - [Devon Island Rover Navigation Dataset](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) 352 | - [Multi-Robot Cooperative Localization and Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/mrclam/) 353 | - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) 354 | - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) 355 | - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) 356 | - [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) 357 | 358 | ### Unmanned Aerial Vehicle 359 | _Unmanned aerial robots include drone_ 360 | - [ICL Dataset](https://peringlab.org/lmdata/) 361 | - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) 362 | - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) 363 | - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) 364 | - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) 365 | - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) 366 | - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) 367 | 368 | 369 | 370 | 371 | ### Autonomous Underwater Vehicle 372 | _Underwater robots include ROV for simplicity_ 373 | - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) 374 | - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) 375 | - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) 376 | 377 | 378 | ### Unmanned Surface Vehicle 379 | _Water surface vehicle such as canoe and boat_ 380 | - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) 381 | - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) 382 | 383 | 384 | ### Hand-held Device 385 | _Hand-held platform by human_ 386 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 387 | - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) 388 | - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) 389 | - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) 390 | - [Comprehensive RGB-D Benchmark (CoRBS)](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) 391 | - [Augmented ICL-NUIM Reconstruction Dataset](http://redwood-data.org/indoor/index.html) 392 | - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) 393 | - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) 394 | - [Cosy Localization Database (COLD)](https://www.pronobis.pro/#data) 395 | - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) 396 | - [Deep Inertial Odometry Dataset](http://deepio.cs.ox.ac.uk/) 397 | - [InteriorNet](https://interiornet.org/) 398 | - [Stereo Plenoptic Dataset](https://www.hs-karlsruhe.de/odometry-data/) 399 | - [FMDataset](https://github.com/zhuzunjie17/FastFusion) 400 | - [Hilti SLAM Dataset](https://hilti-challenge.com/) 401 | 402 | 403 | ## Categorized by Environment 404 | ### Urban 405 | _City, campus, town, and infrastructures 406 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 407 | - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) 408 | - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) 409 | - [Stereo Plenoptic Dataset](https://www.hs-karlsruhe.de/odometry-data/) 410 | - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) 411 | - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) 412 | - [Complex Urban](https://sites.google.com/view/complex-urban-dataset/) 413 | - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) 414 | - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) 415 | - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) 416 | - [CityScapes Dataset](https://www.cityscapes-dataset.com/) 417 | - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) 418 | - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) 419 | - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) 420 | - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) 421 | - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) 422 | - [Cambridge Landmark Dataset](http://mi.eng.cam.ac.uk/projects/relocalisation/) 423 | - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) 424 | - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) 425 | - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) 426 | - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) 427 | - [Multi-Robot Cooperative Localization and Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/mrclam/) 428 | - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) 429 | - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) 430 | - [Annotated-laser Dataset](http://any.csie.ntu.edu.tw/data) (Link Broken) 431 | - [MIT DARPA Urban Challenge Dataset](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) 432 | - [St Lucia Stereo Vehicular Dataset](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) 433 | - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) 434 | - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) 435 | - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) 436 | - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) 437 | 438 | ### Indoor 439 | _Indoor environment_ 440 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 441 | - [ICL Dataset](https://peringlab.org/lmdata/) 442 | - [FMDataset](https://github.com/zhuzunjie17/FastFusion) 443 | - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) 444 | - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) 445 | - [InteriorNet](https://interiornet.org/) 446 | - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) 447 | - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/db) 448 | - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) 449 | - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) 450 | - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) 451 | - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) 452 | - [Comprehensive RGB-D Benchmark (CoRBS)](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) 453 | - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) 454 | - [Augmented ICL-NUIM Reconstruction Dataset](http://redwood-data.org/indoor/index.html) 455 | - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) 456 | - [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) 457 | - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) 458 | - [Cosy Localization Database (COLD)](https://www.pronobis.pro/#data) 459 | - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) 460 | - [Google Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) 461 | 462 | 463 | ### Terrain 464 | _Rough terrain, underground, lake and farm_ 465 | - [VBR SLAM Dataset](https://www.rvp-group.net/slam-dataset.html) 466 | - [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d) 467 | - [Rosario Agricultural Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) 468 | - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) 469 | - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) 470 | - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) 471 | - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) 472 | - [Katwijk Beach Planetary Rover Dataset](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) 473 | - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) 474 | - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) 475 | - [Canadian Planetary Emulation Terrain 3D Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) 476 | - [Challenging data sets for point cloud registration - algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) 477 | - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) 478 | - [Devon Island Rover Navigation Dataset](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) 479 | - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) 480 | - [MADMAX Mars Dataset](https://rmc.dlr.de/morocco2018/) 481 | 482 | ### Underwater 483 | _Underwater floor, cave_ 484 | - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) 485 | - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) 486 | - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) 487 | 488 | ### Simulation 489 | _Simulation Scene_ 490 | - [TartanAir](https://theairlab.org/tartanair-dataset/) 491 | ## Contributing 492 | Please Feel free to send a [pull request](https://github.com/youngguncho/awesome-slam-datasets/pulls) to modify the list or add datasets. 493 | 494 | 495 | ## License 496 | [![CC0](http://mirrors.creativecommons.org/presskit/buttons/88x31/svg/cc-zero.svg)](https://creativecommons.org/publicdomain/zero/1.0/) 497 | 498 | To the extent possible under law, [Younggun Cho](https://github.com/youngguncho) has waived all copyright and related or neighboring rights to this work. 499 | -------------------------------------------------------------------------------- /figs/awesome_datasets_thumbnails.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/youngguncho/awesome-slam-datasets/54def010428d7cd34cfdbaac96d0410b145bdfcb/figs/awesome_datasets_thumbnails.png -------------------------------------------------------------------------------- /figs/tab_ex.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/youngguncho/awesome-slam-datasets/54def010428d7cd34cfdbaac96d0410b145bdfcb/figs/tab_ex.png --------------------------------------------------------------------------------