awesome-slam-datasets

SLAM datasets repository

A collection of curated datasets for SLAM applications

A curated list of awesome datasets for SLAM

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Awesome SLAM Datasets / Update: 2021-03-24 / Update: 2019-09-24
FMDataset 71 about 3 years ago We add which consist on RGBD and IMU data for dense reconstruction of indoor environments
'Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR' In ICRA 2019 (Montreal), workshop on will be held!. We are pretty sure that there will be many 'new' and 'hot' datasets intruduced at the workshop
UZH-FPV Drone Racing Dataset We add a new UAV dataset, , which aims high speed state estimation using RGB, Event, and IMU
Complex Urban Dataset (KAIST) now includes stereo camera images! (published in IJRR 2019)

Awesome SLAM Datasets / TODO / Add datasets introduced in CVPR 2019
https://waymo.com/open Waymo ( )
https://www.nuscenes.org/ Nuscenes ( )

Awesome SLAM Datasets / Overall datasets chart (Simplified Version)
VBR SLAM Dataset
4Seasons Dataset
M2DGR 922 12 months ago
TartanAir
VECtor Dataset
Hilti SLAM Dataset
MADMAX Mars Dataset
FinnForest Dataset
PennCOSYVIO Dataset
ICL Dataset
UZH-FPV Drone Racing
FMDataset 71 about 3 years ago
Rosario Dataset
Collaborative SLAM Dataset (CSD) 41 almost 3 years ago
ADVIO Dataset 240 over 6 years ago
DeepIO Dataset
Aqualoc Dataset
InteriorNet
SPO Dataset
Complex Urban
KAIST Day/Night
TUM-Visual-Inertial
Multi Vech Event
VI Canoe
MPO-Japan
Underwater Cave
Robot @ Home
Zurich Urban MAV
Chilean Underground
SceneNet RGB-D
Symphony Lake
Agricultural robot
Beach Rover
EuRoC
Cartographer
TUM-Mono
Cityscape
Solar-UAV
CoRBS
Oxford-robotcar
NCLT
RPG-event
CCSAD
TUM-Omni
Augmented ICL-NUIM
Cambridge Landmark
ICL-NUIM
MRPT-Malaga
KITTI
Canadian Planetary
Microsoft 7 scenes
SeqSLAM
ETH-challenging
TUM-RGBD
ASRL-Kagara-airborne
Devon Island Rover
ACFR Marine
UTIAS Multi-Robot
Ford Campus
San francisco
Annotated-laser
MIT-DARPA
St Lucia Stereo
St Lucia Multiple Times
Marulan
COLD
NewCollege
Rawseeds-indoor
Rawseeds-outdoor
FABMAP

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

Awesome SLAM Datasets / Categorized By Topic / Odometry
FusionPortable
VBR SLAM Dataset
FinnForest Dataset
ICL Dataset
UZH-FPV Drone Racing
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
ADVIO Dataset 240 over 6 years ago
Deep Inertial Odometry Dataset
Aqualoc Underwater Dataset
Rosario Agricultural Dataset
Stereo Plenoptic Odometry Dataset
MADMAX Mars Dataset
Hilti SLAM Dataset
VECtor Dataset

Awesome SLAM Datasets / Categorized By Topic / Mapping
FusionPortable
Collaborative SLAM Dataset (CSD) 41 almost 3 years ago
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
InteriorNet
FMDataset 71 about 3 years ago
MADMAX Mars Dataset

Awesome SLAM Datasets / Categorized By Topic / Place Recognition
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

Awesome SLAM Datasets / Categorized By Topic / Localization
FusionPortable
VBR SLAM Dataset
ICL Dataset
Cambridge Landmark Dataset
KITTI Vision Benchmark Suite
Microsoft 7 scenes
San Francisco Landmark Dataset
MADMAX Mars Dataset

Awesome SLAM Datasets / Categorized By Topic / Perception
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
InteriorNet
FusionPortableV2

Awesome SLAM Datasets / Categorized By Characteristics / Large-scale
FusionPortableV2
VBR SLAM Dataset
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 Airborne Stereo Dataset Dataset
ACFR Marine Robotics Dataset

Awesome SLAM Datasets / Categorized By Characteristics / Long-term
FinnForest Dataset
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

Awesome SLAM Datasets / Categorized By Characteristics / Map Complexity
VBR SLAM Dataset
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

Awesome SLAM Datasets / Categorized By Characteristics / Extreme Condition
FinnForest Dataset
UZH-FPV Drone Racing
Underwater Caves SONAR and Vision Dataset : Underwater Environment
Chilean Underground Mine Dataset : Underground Environment
CityScapes Dataset : Foggy Scene
EuRoC MAV Dataset : Fast motion
Multi-Sensor Perception (Marulan) Dataset : Smoky, dust, and Rain condition

Awesome SLAM Datasets / Categorized by Platform / Vehicle
FusionPortableV2 Dataset
VBR SLAM Dataset
FinnForest Dataset
Complex Urban Dataset
Multi Vehicle Stereo Event Camera Dataset
KAIST Day/Night Dataset
Multi-modal Panoramic 3D Outdoor Dataset (MPO)
Oxford Robotcar Dataset
CityScapes Dataset
CCSAD (Stereo Urban) Dattaset
Málaga Stereo and Laser Urban Data Set
KITTI Vision Benchmark Suite
Day and Night with Lateral Pose Change Dataset
Alderley Day/Night Dataset
Annotated-laser Dataset (Link Broken)
San Francisco Landmark Dataset
Ford Campus Vision and Lidar Dataset
St Lucia Stereo Vehicular Dataset
St Lucia Multiple Times of Day
MIT DARPA Urban Challenge Dataset
FABMAP Dataset

Awesome SLAM Datasets / Categorized by Platform / Mobile Robot
Rosario Dataset
Sugar Beets 2016, Agricultural Robot Dataset
Chilean Underground Mine Dataset
Katwijk Beach Planetary Rover Dataset
Robot @ Home Dataset
University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset
Rawseeds In/Outdoor Dataset
Canadian Planetary Emulation Terrain 3D Mapping Dataset
Devon Island Rover Navigation Dataset
Multi-Robot Cooperative Localization and Mapping Dataset
Multi-Sensor Perception (Marulan) Dataset
TUM RGB-D SLAM Dataset and Benchmark
New College Vision and Laser Data Set
MADMAX Mars Dataset

Awesome SLAM Datasets / Categorized by Platform / Unmanned Aerial Vehicle
ICL Dataset
UZH-FPV Drone Racing
Zurich Urban Micro Aerial Vehicle Dataset
Event-Camera Dataset and Simulator
Solar-powered UAV Sensing and Mapping Dataset
EuRoC MAV Dataset
Kagaru Airborne Stereo Dataset Dataset

Awesome SLAM Datasets / Categorized by Platform / Autonomous Underwater Vehicle
Aqualoc Underwater Dataset
Underwater Caves SONAR and Vision Dataset
ACFR Marine Robotics Dataset

Awesome SLAM Datasets / Categorized by Platform / Unmanned Surface Vehicle
Visual-Inertial Canoe Dataset
Symphony Lake Dataset

Awesome SLAM Datasets / Categorized by Platform / Hand-held Device
VBR SLAM Dataset
Collaborative SLAM Dataset (CSD) 41 almost 3 years ago
SceneNet RBG-D Dataset
Event-Camera Dataset and Simulator
Comprehensive RGB-D Benchmark (CoRBS)
Augmented ICL-NUIM Reconstruction Dataset
ICL-NUIM RGBD Dataset
Challenging data sets for point cloud registration algorithms
Cosy Localization Database (COLD)
ADVIO Dataset 240 over 6 years ago
Deep Inertial Odometry Dataset
InteriorNet
Stereo Plenoptic Dataset
FMDataset 71 about 3 years ago
Hilti SLAM Dataset

Awesome SLAM Datasets / Categorized by Environment / Urban
VBR SLAM Dataset
UZH-FPV Drone Racing
ADVIO Dataset 240 over 6 years ago
Stereo Plenoptic Dataset
KAIST Day/Night Dataset
TUM-Visual-Inertial
Complex Urban
Multi Vehicle Stereo Event Camera Dataset
Zurich Urban Micro Aerial Vehicle Dataset
TUM Monocular Cameras Dataset
CityScapes Dataset
Oxford Robotcar Dataset
University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset
Event-Camera Dataset and Simulator
CCSAD (Stereo Urban) Dattaset
TUM Omnidirectional Cameras Dataset
Cambridge Landmark Dataset
Málaga Stereo and Laser Urban Data Set
KITTI Vision Benchmark Suite
Alderley Day/Night Dataset
Challenging data sets for point cloud registration algorithms
Multi-Robot Cooperative Localization and Mapping Dataset
Ford Campus Vision and Lidar Dataset
San Francisco Landmark Dataset
Annotated-laser Dataset (Link Broken)
MIT DARPA Urban Challenge Dataset
St Lucia Stereo Vehicular Dataset
St Lucia Multiple Times of Day
New College Vision and Laser Data Set
Rawseeds In/Outdoor Dataset
FABMAP Dataset

Awesome SLAM Datasets / Categorized by Environment / Indoor
VBR SLAM Dataset
ICL Dataset
FMDataset 71 about 3 years ago
UZH-FPV Drone Racing
Collaborative SLAM Dataset (CSD) 41 almost 3 years ago
InteriorNet
TUM-Visual-Inertial
Multi-modal Panoramic 3D Outdoor Dataset (MPO)
Robot @ Home Dataset
SceneNet RBG-D Dataset
EuRoC MAV Dataset
TUM Monocular Cameras Dataset
Comprehensive RGB-D Benchmark (CoRBS)
TUM Omnidirectional Cameras Dataset
Augmented ICL-NUIM Reconstruction Dataset
ICL-NUIM RGBD Dataset
Microsoft 7 scenes
TUM RGB-D SLAM Dataset and Benchmark
Cosy Localization Database (COLD)
Rawseeds In/Outdoor Dataset
Google Cartographer

Awesome SLAM Datasets / Categorized by Environment / Terrain
VBR SLAM Dataset
FinnForest Dataset
Rosario Agricultural Dataset
Visual-Inertial Canoe Dataset
Chilean Underground Mine Dataset
Symphony Lake Dataset
Sugar Beets 2016, Agricultural Robot Dataset
Katwijk Beach Planetary Rover Dataset
Solar-powered UAV Sensing and Mapping Dataset
Event-Camera Dataset and Simulator
Canadian Planetary Emulation Terrain 3D Mapping Dataset
Challenging data sets for point cloud registration - algorithms
Kagaru Airborne Stereo Dataset Dataset
Devon Island Rover Navigation Dataset
Multi-Sensor Perception (Marulan) Dataset
MADMAX Mars Dataset

Awesome SLAM Datasets / Categorized by Environment / Underwater
Aqualoc Underwater Dataset
Underwater Caves SONAR and Vision Dataset
ACFR Marine Robotics Dataset

Awesome SLAM Datasets / Categorized by Environment / Simulation
TartanAir

Backlinks from these awesome lists:

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