Awesome SLAM Datasets

This page is the curated list of awesome SLAM data sets. This site is linked to the GitHub page.

News!!

Recently, we added new datasets: FMDataset, ADVIO Dataset, DeepIO Dataset, Aqualoc Dataset, Rosario Dataset, InteriorNet, SPO Dataset.

Overall Datasets Chart

The chart represents the collection of all slam-related datasets. This chart contains brief information of each dataset (platform, publication, and etc) and sensor configurations. Since the chart is written by Google Spreadsheet, you can easily use a filter to find appropriate datasets you want.

Manual Page

Now the manual page of using attached spreadsheet for navigating slam dataset list.

slam_dataset_open

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

Underwater Caves SONAR and Vision Dataset: Underwater Environment
Chilean Underground Mine Dataset: Underground Envoriment
CityScapes Dataset: Foggy Scene
EuRoC MAV Dataset: Fast motion
Multi-Sensor Perception (Marulan) Dataset : Smoky, dust, and Rain condition

This project is maintained by Younggun Cho. If you want to use or contribute to this project, please contact Younggun Cho. You can also use pull request of github page.