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ConfigurationGround TruthSensor InformationExternal Information
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ShortnameAffiliationYearPlatformPublicationEnvironmentPoseMapIMUGPSLabels2D Lidar3D LidarMonoStereoOmniRGBDEventRadarSonarDVLOtherLinkRef
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ADVIO DatasetAalto U2018HandECCVUrbanOOOOiPhone, Tango, Pixelhttps://github.com/AaltoVision/ADVIOSaraee, Elham, Mona Jalal, and Margrit Betke. "SAVOIAS: A Diverse, Multi-Category Visual Complexity Dataset." arXiv preprint arXiv:1810.01771 (2018).
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DeepIO DatasetOxford2018HandArxivIndoorOOhttp://deepio.cs.ox.ac.uk/Chen, Changhao, et al. "OxIOD: The Dataset for Deep Inertial Odometry." arXiv preprint arXiv:1809.07491 (2018).
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Aqualoc DatasetONERA-DTIS2018ROVIROS WSUnderwaterOOOPressure Sensorhttp://www.lirmm.fr/aqualoc/Ferrera, Maxime, et al. "The Aqualoc Dataset: Towards Real-Time Underwater Localization from a Visual-Inertial-Pressure Acquisition System." arXiv preprint arXiv:1809.07076 (2018).
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Rosario DatasetCONICET-UNR2018MobIJRR (Under Review)TerrainOOOOEncoderhttp://www.cifasis-conicet.gov.ar/robot/doku.phpTaihú Pire, Martín Mujica, Javier Civera and Ernesto Kofman. The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments. In: International Journal of Research Robotics, 2018. (Under Revision)
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InteriorNetImperial College2018HandBMVCIndoorOOOOOOOTexture, Lighting, Context, Optical Flowhttps://interiornet.org/Li, Wenbin, et al. "InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset." arXiv preprint arXiv:1809.00716 (2018).
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SPO DatasetTUM, Karlsruhe2018HandArxivUrbanOOOPlenoptic Camerahttps://www.hs-karlsruhe.de/odometry-data/N. Zeller, F. Quint, U. Stilla (2018): A Synchronized Stereo and Plenoptic Visual Odometry Dataset, arXiv:1807.09372.
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KAIST Day/NightKAIST-RCV2018VehT-ITSUrbanOOOOOOThermal Camerahttps://sites.google.com/view/multispectral/homeChoi, Yukyung, et al. "KAIST Multi-Spectral Day/Night Data Set for Autonomous and Assisted Driving." IEEE Transactions on Intelligent Transportation Systems 19.3 (2018): 934-948.
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TUM-Visual-InertialTUM2018HandArxivIndoor, UrbanOOOhttps://vision.in.tum.de/data/datasets/visual-inertial-datasetSchubert, David, et al. "The TUM VI Benchmark for Evaluating Visual-Inertial Odometry." arXiv preprint arXiv:1804.06120 (2018).
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Complex UrbanKAIST-IRAP2018VehICRAUrbanOOOOOOEncoderhttp://irap.kaist.ac.kr/dataset/Complex Urban LiDAR Data Set
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Multi Vech EventUpenn2018VehRA-LUrbanOOOOOO (stereo)https://daniilidis-group.github.io/mvsec/Zhu, Alex Zihao, et al. "The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception." IEEE Robotics and Automation Letters (2018).
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VI CanoeUIUC2018USVIJRRTerrainOOOOhttps://databank.illinois.edu/datasets/IDB-9342111Miller, Martin, Soon-Jo Chung, and Seth Hutchinson. "The Visual–Inertial Canoe Dataset." The International Journal of Robotics Research 37.1 (2018): 13-20.
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RPG-eventETH-RPG2017UAV / HandIJRRIndoorOOOOhttp://rpg.ifi.uzh.ch/davis_data.htmlMueggler, Elias, et al. "The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM." The International Journal of Robotics Research 36.2 (2017): 142-149.
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Underwater CaveUDG2017AUVIJRRUnderwaterOOOOOProfiling Sonarhttp://cirs.udg.edu/caves-dataset/Mallios, Angelos, et al. "Underwater caves sonar data set." The International Journal of Robotics Research (2017): 0278364917732838.
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Robot @ HomeMRPT2017MobIJRRIndoorOOOOOSemantic Labelshttp://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-datasetRuiz-Sarmiento, J. R., Cipriano Galindo, and J. González-Jiménez. "Robot@ home, a robotic dataset for semantic mapping of home environments." The International Journal of Robotics Research 36.2 (2017): 131-141.
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Zurich Urban MAVETH-RPG2017UAVIJRRUrbanOOOOStreetview imageshttp://rpg.ifi.uzh.ch/zurichmavdataset.htmlThe Zurich Urban Micro Aerial Vehicle Dataset
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Chilean UndergroundTrimble2017MobIJRRTerrain (Underground)OOOOEncoderhttp://dataset.amtc.cl/#Leung, Keith, et al. "Chilean underground mine dataset." The International Journal of Robotics Research 36.1 (2017): 16-23.
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SceneNet RGB-DImperial2017HandICCVIndoorOOOhttps://robotvault.bitbucket.io/scenenet-rgbd.htmlMcCormac, John, et al. "Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation." The IEEE International Conference on Computer Vision (ICCV). Vol. 1. 2017.
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Symphony LakeGeorgia Tech2017USVIJRRTerrain (Lake)OOOOPTZ camera, Longtermhttp://dream.georgiatech-metz.fr/?q=node/79Griffith, Shane, Georges Chahine, and Cédric Pradalier. "Symphony Lake Dataset." The International Journal of Robotics Research 36.11 (2017): 1151-1158.
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Agricultural robotBonn2017MobIJRRTerrainOOOOOOMultispectral camerahttp://www.ipb.uni-bonn.de/data/sugarbeets2016/Chebrolu, Nived, et al. "Agricultural robot dataset for plant classification, localization and mapping on sugar beet fields." The International Journal of Robotics Research 36.10 (2017): 1045-1052.
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Beach RoverTEC-MMA2017MobTerrainOOOOOOOEncoderhttps://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/Hewitt, Robert A., et al. "The Katwijk beach planetary rover dataset." The International Journal of Robotics Research (2017): 0278364917737153.
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EuRocETH-ASL2016UAVIJRRIndoorOOOOOhttp://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasetsM. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. W. Achtelik, and R. Siegwart. The EuRoC Micro Aerial Vehicle Datasets. The International Journal of Robotics Research (IJRR), 2016.
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TUM-MONOTUM2016HandArxivIndoor, UrbanOPhotometric Calibrationhttps://vision.in.tum.de/data/datasets/mono-datasetEngel, Jakob, Vladyslav Usenko, and Daniel Cremers. "A photometrically calibrated benchmark for monocular visual odometry." arXiv preprint arXiv:1607.02555 (2016).
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CityscapeDaimler AG2016VehCVPRUrbanOOOOhttps://www.cityscapes-dataset.com/M. Cordts, M. Omran, S. Ramos, T. Rehfeld, M. Enzweiler, R. Benenson, U. Franke, S. Roth, and B. Schiele. The Cityscapes Dataset for Semantic Urban Scene Understanding. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016
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Solar-UAVETHZ2016UAVCVPRTerrainOOOOOhttp://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015P. Oettershagen, T. Stastny, T. Mantel, A. Melzer, K. Rudin, P. Gohl, G. Agamennoni, K. Alexis, and R. Siegwart. Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV. In Proceedings of International Conference on Field and Service Robotics (FSR), pages 441–454. Springer, 2016
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CoRBSDFKI2016HandWACVIndoorOOOhttp://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9O. Wasenmuller, M. Meyer, and D. Stricker. CoRBS: Comprehensive RGB-D benchmark for SLAM using Kinect v2. In IEEE Winter Conference on Applications of Computer Vision (WACV), pages 1–7. IEEE, 2016
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Oxford-robotcarOxford2016VehIJRRUrbanOOOOOOhttp://robotcar-dataset.robots.ox.ac.ukMaddern, Will, et al. "1 year, 1000 km: The Oxford RobotCar dataset." The International Journal of Robotics Research (2016): 0278364916679498.
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NCLTUMich2016MobIJRRUrbanOOOOOFOGhttp://robots.engin.umich.edu/nclt/Carlevaris-Bianco, Nicholas, Arash K. Ushani, and Ryan M. Eustice. "University of Michigan North Campus long-term vision and lidar dataset." The International Journal of Robotics Research 35.9 (2016): 1023-1035
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MPO-JapanKyushu U2016VehIROSUrban, TerrainOOOOOFARO 3Dhttp://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=dbJung, Hojung, et al. "Multi-modal panoramic 3D outdoor datasets for place categorization." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.
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CCSADCIMAT2015VehCAIPUrbanOOOhttp://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-datasetR. Guzman, J. B. Hayet, and R. Klette. Towards Ubiquitous Autonomous Driving: The CCSAD Dataset. In Conference on Computer Analysis of Images and Patterns (CAIP), pages 582–593. Springer, 2015.
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TUM-OmniTUM2015HandIROSIndoor, UrbanOOhttps://vision.in.tum.de/data/datasets/omni-lsdslamCaruso, David, Jakob Engel, and Daniel Cremers. "Large-scale direct slam for omnidirectional cameras." Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. IEEE, 2015.
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Augmented ICL-NUIMRedwood2015HandCVPRIndoorOOOhttp://redwood-data.org/indoor/index.htmlChoi, Sungjoon, Qian-Yi Zhou, and Vladlen Koltun. "Robust reconstruction of indoor scenes." Computer Vision and Pattern Recognition (CVPR), 2015 IEEE Conference on. IEEE, 2015.
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Cambridge LandmarkCambridge2015HandICCVUrbanOOOhttp://mi.eng.cam.ac.uk/projects/relocalisation/A. Kendall, M. Grimes, and R. Cipolla, “Posenet: A convolutional network for real-time 6-dof camera relocalization,” in ICCV, 2015.
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ICL-NUIMImperial2014HandICRAIndoorOOOhttps://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.htmlA. Handa, T. Whelan, J. McDonald, and A. J. Davison. A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1524–1531. IEEE, 2014
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MRPT-MalagaMRPT2014VehARUrbanOOOOOhttps://www.mrpt.org/robotics_datasetsJ.L. Blanco-Claraco, F.A. Moreno-Dueñas, J. Gonzalez-Jimenez. “The Málaga Urban Dataset: High-rate Stereo and Lidars in a realistic urban scenario“, The International Journal of Robotics Research (IJRR), Feb 2014, vol. 33, no. 2, 207-214. (Bibtex) DOI: 10.1177/0278364913507326 (OnlineFirst; Draft PDF
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KITTIKIT2013VehIJRRUrbanOOOOOOOOhttp://www.cvlibs.net/datasets/kitti/index.phpA. Geiger, P. Lenz, C. Stiller, and R. Urtasun. Vision Meets Robotics: The KITTI Dataset. The International Journal of Robotics Research (IJRR), 32(11):1231–1237, 2013
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Canadian PlanetaryUToronto2013MobIJRRTerrainOOOOOOhttp://asrl.utias.utoronto.ca/datasets/3dmap/#DatasetsTong, C., Gingras, D., Larose, K., Barfoot, T. D., and Dupuis, E. “The Canadian Planetary Emulation Terrain 3D Mapping Dataset.” International Journal of Robotics Research, 2013
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Microsoft 7 scenesMicrosoft2013HandCVPRIndoorOOOhttps://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.htmlJ. Shotton, B. Glocker, C. Zach, S. Izadi, A. Criminisi, and A. Fitzgibbon, “Scene coordinate regression forests for camera relocalization in rgb-d images,” in CVPR, June 2013.
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SeqSLAMQUT2012VehICRAUrbanOOhttps://wiki.qut.edu.au/display/cyphy/Open+datasets+and+softwareM. J. Milford and G. F. Wyeth. SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1643–1649. IEEE, 2012
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ETH-challengingETH-ASL2012HandIJRRUrban, TerrainOOOOOhttp://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistrationF. Pomerleau, M. Liu, F. Colas, and R. Siegwart. Challenging data sets for point cloud registration algorithms. The International Journal of Robotics Research (IJRR), 31(14):1705–1711, 2012
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TUM-RGBDTUM2012Hand / MobIROSIndoorOOOhttps://vision.in.tum.de/data/datasets/rgbd-datasetJ. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers. A Benchmark for the Evaluation of RGB-D SLAM Systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 573–580. IEEE, 2012
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ASRL-Kagara-airbornUToronto2012UAVFSRTerrainOOOhttp://asrl.utias.utoronto.ca/~mdw/kagarudataset.htmlM. Warren, D. McKinnon, H. He, A. Glover, M. Shiel, and B. Upcroft. Large Scale Monocular Vision-only Mapping from a Fixed-Wing sUAS. In Proceedings of International Conference on Field and Service Robotics (FSR), pages 495–509. Springer, 2012
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Devon Island RoverUToronto2012MobIJRRTerrainOOOSunsensor, Inclinometerhttp://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/Furgale, P. T., Carle, P., Enright, J., and Barfoot, T. D. “The Devon Island Rover Navigation Dataset.” International Journal of Robotics Research, 31(6):707–713, 2012
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ACFR MarineACFR2012AUVUnderwaterOOOOOhttp://marine.acfr.usyd.edu.au/datasets/ACFR dataset
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UTIAS Multi-RobotUT-IAS2011MobIJRRUrbanOOhttp://asrl.utias.utoronto.ca/datasets/mrclam/K. Y. K. Leung, Y. Halpern, T. D. Barfoot, and H. H. T. Liu. The UTIAS multi-robot cooperative localization and mapping dataset. The International Journal of Robotics Research (IJRR), 30(8):969–974, 2011
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Ford CampusUMich2011VehIJRRUrbanOOOOOOOhttp://robots.engin.umich.edu/SoftwareData/FordG. Pandey, J. R. McBride, and R. M. Eustice. Ford Campus vision and LIDAR data set. The International Journal of Robotics Research (IJRR), 30(13):1543–1552, 2011
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San franciscoStanford2011VehCVPRUrbanOOOOOOODMIhttps://sites.google.com/site/chenmodavid/datasetsChen, David M., et al. "City-scale landmark identification on mobile devices." Computer Vision and Pattern Recognition (CVPR), 2011 IEEE Conference on. IEEE, 2011.
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Annotated-laserNTU2011VehIJRRUrbanOOOOhttp://any.csie.ntu.edu.tw/dataS. W. Yang, C. C. Wang, and C. Thorpe. The annotated laser data set for navigation in urban areas. The International Journal of Robotics Research (IJRR), 30(9):1095–1099, 2011
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MIT-DARPA-UrbanMIT2010VehIJRRUrbanOOOOOOOhttp://grandchallenge.mit.edu/wiki/index.php?title=PublicDataA. S. Huang, M. Antone, E. Olson, L. Fletcher, D. Moore, S. Teller, and J. J. Leonard. A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge. The International Journal of Robotics Research (IJRR), 29(13):1595–1601, 2010
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St Lucia StereoUToronto2010VehACRAUrbanOOOhttp://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.htmlM. Warren, D. McKinnon, H. He, and B. Upcroft. Unaided Stereo Vision based Pose Estimation. In G. Wyeth and B. Upcroft, editors, Australasian Conference on Robotics and Automation (ACRA), Brisbane, 2010. Australian Robotics and Automation Association.
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St Lucia Multiple TimesQUT2010VehICRAUrbanOOhttps://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+DayA. J. Glover, W. P. Maddern, M. J. Milford, and G. F. Wyeth. FAB-MAP + RatSLAM: appearance-based SLAM for multiple times of day. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3507–3512. IEEE, 2010
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MarulanACFR2010MobIJRRTerrainOOOOOOInfraredhttp://sdi.acfr.usyd.edu.au/Peynot, Thierry, Steve Scheding, and Sami Terho. "The marulan data sets: Multi-sensor perception in a natural environment with challenging conditions." The International Journal of Robotics Research 29.13 (2010): 1602-1607.
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COLDKTH2009HandIJRRIndoorOOOOhttps://www.pronobis.pro/#dataA. Pronobis and B. Caputo. COLD: The CoSy Localization Database. The International Journal of Robotics Research (IJRR), 28(5):588–594, 2009.
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NewCollegeOxford-Robot2009MobIJRRUrbanOOOOhttp://www.robots.ox.ac.uk/NewCollegeData/M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman. The New College Vision and Laser Data Set. The International Journal of Robotics Research (IJRR), 28(5):595–599, 2009.
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Rawseeds-indoorMilano2009MobIROSWIndoorOOOOOOOOhttp://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/Bonarini, A, Burgard, W, Fontana, G. (2006) Rawseeds: Robotics advancement through web-publishing of sensorial and elaborated extensive data sets. In: Proceedings of IROS workshop on benchmarks in robotics research, Beijing, China, 2006. USA: IEEE.
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Rawseeds-outdoorMilano2009MobIROSWUrbanOOOOOOOOOhttp://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/Bonarini, A, Burgard, W, Fontana, G. (2006) Rawseeds: Robotics advancement through web-publishing of sensorial and elaborated extensive data sets. In: Proceedings of IROS workshop on benchmarks in robotics research, Beijing, China, 2006. USA: IEEE.
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FABMAPOxford-Robot2008VehIJRRUrbanOOhttp://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/Cummins, Mark, and Paul Newman. "FAB-MAP: Probabilistic localization and mapping in the space of appearance." The International Journal of Robotics Research 27.6 (2008): 647-665.
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