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.
Categorized By Topic
Odometry
Dataset for odometry Benchmark
- TUM-Visual-Inertial
- Visual-Inertial Canoe Dataset
- Multi Vehicle Stereo Event Camera Dataset
- Zurich Urban Micro Aerial Vehicle Dataset
- EuRoC MAV Dataset
- TUM Monocular Cameras Dataset
- Event-Camera Dataset and Simulator
- TUM Omnidirectional Cameras Dataset
- ICL-NUIM RGBD Dataset
- TUM RGB-D SLAM Dataset and Benchmark
- Google Cartographer
Mapping
Dataset for mapping task
- Complex Urban
- Multi-modal Panoramic 3D Outdoor Dataset (MPO)
- Underwater Caves SONAR and Vision Dataset
- Chilean Underground Mine Dataset
- Oxford Robotcar Dataset
- University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset
- Málaga Stereo and Laser Urban Data Set
- KITTI Vision Benchmark Suite
- Challenging data sets for point cloud registration algorithms
- ACFR Marine Robotics Dataset
- Ford Campus Vision and Lidar Dataset
Place Recognition
Dataset gives correspondences of places (images)
- Visual-Inertial Canoe Dataset
- Symphony Lake Dataset
- Alderley Day/Night Dataset
- St Lucia Multiple Times of Day
- New College Vision and Laser Data Set
- FABMAP Dataset
Localization
Dataset for metric-level localization
- Cambridge Landmark Dataset
- KITTI Vision Benchmark Suite
- Microsoft 7 scenes
- San Francisco Landmark Dataset
Perception
Dataset with semantic labels / correspondences
- KAIST Day/Night Dataset
- Robot @ Home Dataset
- SceneNet RBG-D Dataset
- Sugar Beets 2016, Agricultural Robot Dataset
- CityScapes Dataset
- KITTI Vision Benchmark Suite
- Multi-Sensor Perception (Marulan) Dataset
Categorized By Characteristics
Large-scale
City-scale map, kilometer level Map
- Complex Urban
- Multi Vehicle Stereo Event Camera Dataset
- Multi-modal Panoramic 3D Outdoor Dataset (MPO)
- CityScapes Dataset
- Solar-powered UAV Sensing and Mapping Dataset
- Oxford Robotcar Dataset
- CCSAD (Stereo Urban) Dattaset
- Málaga Stereo and Laser Urban Data Set
- KITTI Vision Benchmark Suite
- Kagaru Airborn Stereo Dataset Dataset
- ACFR Marine Robotics Dataset
Long-term
Multi-session, long-term data collection
- KAIST Day/Night Dataset
- Visual-Inertial Canoe Dataset
- Symphony Lake Dataset
- Oxford Robotcar Dataset
- University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset
- Alderley Day/Night Dataset
- St Lucia Multiple Times of Day
Map Complexity
Variation of mapping structures
- Complex Urban
- Multi Vehicle Stereo Event Camera Dataset
- Multi-modal Panoramic 3D Outdoor Dataset (MPO)
- Málaga Stereo and Laser Urban Data Set
- KITTI Vision Benchmark Suite
- Challenging data sets for point cloud registration - algorithms
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.