# awesome-slam-datasets **Repository Path**: wulixun/awesome-slam-datasets ## Basic Information - **Project Name**: awesome-slam-datasets - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 1 - **Forks**: 1 - **Created**: 2020-02-28 - **Last Updated**: 2024-11-22 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Awesome SLAM Datasets [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome) ![image](figs/awesome_datasets_thumbnails.png) >Thumbnail Figures from Complex Urban, NCLT, Oxford robotcar, KiTTi, Cityscapes datasets. 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/). We provide several category for each access of the data. ## News !! (Update: 2019-09-24) - We add [FMDataset](https://github.com/zhuzunjie17/FastFusion) which consist on RGBD and IMU data for dense reconstruction of indoor environments - 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. - We add [evaluation section](#evaluation) (Tools for trajectory and SLAM methods evaluation) - 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. - [Complex Urban Dataset (KAIST)](http://irap.kaist.ac.kr/dataset/) now includes stereo camera images! (published in IJRR 2019) ## TODO - Add datasets introduced in CVPR 2019 - Waymo (https://waymo.com/open) - Nuscenes (https://www.nuscenes.org/) - ... - Add Simulation datast category - CARLA - Airsim - Syncity ## Category - [Evaluation](#evaluation) - Evaluation Methods of SLAM - [Topic](#categorized-by-topic) - [Odometry](#odometry): Dataset for odometry Benchmark - [Mapping](#mapping): Dataset for mapping task - [Place Recognition](#place-recognition): Dataset gives correspondences of places (images) - [Localization](#localization): Dataset for metric-level localization - [Perception](#perception): Dataset with semantic labels / correspondences - [Characteristics](#categorized-by-characteristics) - [Large-scale](#large-scale): City-scale map, kilometer level Map - [Long-term](#long-term): Multi-session, long-term data collection - [Map Complexity](#map-complexity): Variation of mapping structures - [Extreme Condition](#extreme-condition): Extreme environment, motions - [Platform](#categorized-by-platform) - [Vehicle (Veh)](#vehicle): Commercial Vehicle (Four-wheeled on the road) - [Mobile robot (Mob)](#mobile-robot): Mobile Robots (Ex. Husky, Rover.. ) - [Unmanned Aerial Vehicle (UAV)](#unmanned-aerial-vehicle): Unmanned aerial robots include drone. - [Autonomous Underwater Vehicle (AUV)](#autonomous-underwater-vehicle): Underwater robots include ROV for simplicity. - [Unmanned Surface Vehicle (USV)](#unmanned-surface-vehicle): Water surface vehicle such as canoe and boat. - [Hand-held Device (Hand)](#hand-held-device): Hand-held platform by human - [Environment](#categorized-by-platform) - [Urban](#urban): City, campus, town, and infrastructures - [Indoor](#indoor): Indoor environment - [Terrain](#terrain): Rough terrain, underground, lake and farm - [Underwater](#underwater): Underwater floor, cave ## Overall datasets chart (Simplified Version) [Link to Full version](https://sites.google.com/view/awesome-slam-datasets/) | Shortname | Affiliation | Year | Platform | Publication | Environment | GT-Pose | GT-Map | IMU | GPS | Labels | Lidar | Cameras | RGBD | Event | Radar | Sonar | DVL | Other | |----------------------------------------------------------------------------------------------------------|--------------|------|------------|-------------|-----------------------|---------|--------|-----|-----|--------|------------|---------|------|-------|-------|-------|-----|-------------------------| | [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) | UZH, ETH | 2019 | UAV | ICRA | Indoor, Urban | O | | O | | | | O | | O | | | | | | [FMDataset](https://github.com/zhuzunjie17/FastFusion) | Hangzhou Dianzi / Tsinghua | 2019 | Hand | ICME | Indoor | | | O | | | | | O | | | | | | | [Rosario Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) | CONICET-UNR | 2019 | Mob | IJRR | Terrain | O | | O | | | | O | | | | | | Encoder | | [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) | Oxford | 2018 | Hand | TVCG/ISMAR | Indoor | O | O | O | | | | O | O | | | | | Tango (Asus ZenFone AR) | [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) | Aalto U | 2018 | Hand | ECCV | Urban | O | O | O | | | | O | | | | | | iPhone, Tango, Pixel | | [DeepIO Dataset](http://deepio.cs.ox.ac.uk/) | Oxford | 2018 | Hand | Arxiv | Indoor | O | | O | | | | | | | | | | | | [Aqualoc Dataset](http://www.lirmm.fr/aqualoc/) | ONERA-DTIS | 2018 | ROV | IROS WS | Underwater | O | | O | | | | O | | | | | | Pressure Sensor | | [InteriorNet](https://interiornet.org/) | Imperial College | 2018 | Hand | BMVC | Indoor | O | O | O | | O | | O | O | O | | | | Texture, Lighting, Context, Optical Flow | | [SPO Dataset](https://www.hs-karlsruhe.de/odometry-data/) | TUM, Karlsruhe | 2018 | Hand | Arxiv | Urban | O | | | | | | O | | | | | | Plenoptic Camera | | [Complex Urban](http://irap.kaist.ac.kr/dataset/) | KAIST-IRAP | 2018 | Veh | ICRA | Urban | O | O | O | O | | O | | | | | | | Encoder | | [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 | | [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) | TUM | 2018 | Hand | Arxiv | Indoor, Urban | | | O | | | | | O | | O | | | | | [Multi Vech Event](https://daniilidis-group.github.io/mvsec/) | Upenn | 2018 | Veh | RA-L | Urban | O | | O | O | | O | O | | O | | | | | | [VI Canoe](https://databank.illinois.edu/datasets/IDB-9342111) | UIUC | 2018 | USV | IJRR | Terrain | O | | O | O | | | O | | | | | | | | [MPO-Japan](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) | ETH-RPG | 2017 | UAV / Hand | IJRR | Indoor | O | | O | | | | O | | O | | | | | | [Underwater Cave](http://cirs.udg.edu/caves-dataset/) | UDG | 2017 | AUV | IJRR | Underwater | O | | O | | | | O | | | | O | O | Profiling Sonar | | [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 | | [Zurich Urban MAV](http://rpg.ifi.uzh.ch/zurichmavdataset.html) | ETH-RPG | 2017 | UAV | IJRR | Urban | O | | O | O | | | O | | | | | | Streetview images | | [Chilean Underground](http://dataset.amtc.cl/#) | Trimble | 2017 | Mob | IJRR | Terrain (Underground) | O | | | | | O | O | | | O | | | Encoder | | [SceneNet RGB-D](https://robotvault.bitbucket.io/scenenet-rgbd.html) | Imperial | 2017 | Hand | ICCV | Indoor | O | | | | O | | | O | | | | | | | [Symphony Lake](http://dream.georgiatech-metz.fr/?q=node/79) | Georgia Tech | 2017 | USV | IJRR | Terrain (Lake) | | | O | O | | O | O | | | | | | PTZ camera, Longterm | | [Agricultural robot](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) | Bonn | 2017 | Mob | IJRR | Terrain | O | | | O | O | O | O | O | | | | | Multispectral camera | | [Beach Rover](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) | TEC-MMA | 2017 | Mob | | Terrain | O | | O | O | | O | O | O | | | | | Encoder | | [EuRoC](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) | ETH-ASL | 2016 | UAV | IJRR | Indoor | O | O | O | | | | O | | | | | | | | [Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) | Google | 2016 | Hand | ICRA | Indoor | | | O | | | O | O | | | | | | | | [TUM-Mono](https://vision.in.tum.de/data/datasets/mono-dataset) | TUM | 2016 | Hand | Arxiv | Indoor, Urban | | | | | | | | | | O | | | Photometric Calibration | | [Cityscape](https://www.cityscapes-dataset.com/) | Daimler AG | 2016 | Veh | CVPR | Urban | O | | | O | O | | O | | | | | | | | [Solar-UAV](http://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) | ETHZ | 2016 | UAV | CVPR | Terrain | O | O | O | O | | O | | | | | | | | | [CoRBS](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) | DFKI | 2016 | Hand | WACV | Indoor | O | O | | | | | | O | | | | | | | [Oxford-robotcar](http://robotcar-dataset.robots.ox.ac.uk) | Oxford | 2016 | Veh | IJRR | Urban | O | | O | O | | O | O | | | | | | | | [NCLT](http://robots.engin.umich.edu/nclt/) | UMich | 2016 | Mob | IJRR | Urban | O | | O | O | | O | | | | | | | FOG | | [RPG-event](http://rpg.ifi.uzh.ch/davis_data.html) | Kyushu U | 2016 | Veh | IROS | Urban, Terrain | | | O | O | | O | O | | | | | | FARO 3D | | [CCSAD](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) | CIMAT | 2015 | Veh | CAIP | Urban | | | O | O | | | O | | | | | | | | [TUM-Omni](https://vision.in.tum.de/data/datasets/omni-lsdslam) | TUM | 2015 | Hand | IROS | Indoor, Urban | | | | | | | O | | | | | | | | [Augmented ICL-NUIM](http://redwood-data.org/indoor/index.html) | Redwood | 2015 | Hand | CVPR | Indoor | O | O | | | | | | O | | | | | | | [Cambridge Landmark](http://mi.eng.cam.ac.uk/projects/relocalisation/) | Cambridge | 2015 | Hand | ICCV | Urban | O | O | | | | | O | | | | | | | | [ICL-NUIM](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) | Imperial | 2014 | Hand | ICRA | Indoor | O | O | | | | | | O | | | | | | | [MRPT-Malaga](https://www.mrpt.org/robotics_datasets) | MRPT | 2014 | Veh | AR | Urban | | | O | O | | O | O | | | | | | | | [KITTI](http://www.cvlibs.net/datasets/kitti/index.php) | KIT | 2013 | Veh | IJRR | Urban | O | | O | O | O | O | O | | | | | | | | [Canadian Planetary](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) | UToronto | 2013 | Mob | IJRR | Terrain | O | | O | O | | O (sensor) | O | | | | | | | | [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) | Microsoft | 2013 | Hand | CVPR | Indoor | O | O | | | | | O | | | | | | | | [SeqSLAM](https://ieeexplore.ieee.org/document/6224623) | QUT | 2012 | Veh | ICRA | Urban | | | | | O | | O | | | | | | | | [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 | | | | | | | [TUM-RGBD](https://vision.in.tum.de/data/datasets/rgbd-dataset) | TUM | 2012 | Hand / Mob | IROS | Indoor | O | | O | | | | | O | | | | | | | [ASRL-Kagara-airborne](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) | UToronto | 2012 | UAV | FSR | Terrain | | | O | O | | | O | | | | | | | | [Devon Island Rover](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) | UToronto | 2012 | Mob | IJRR | Terrain | O | | | O | | | O | | | | | | Sunsensor, Inclinometer | | [ACFR Marine](http://marine.acfr.usyd.edu.au/datasets/) | ACFR | 2012 | AUV | | Underwater | O | | O | | O | | O | | | | O | | | | [UTIAS Multi-Robot](http://asrl.utias.utoronto.ca/datasets/mrclam/) | UT-IAS | 2011 | Mob | IJRR | Urban | O | | | | O | | | | | | | | | | [Ford Campus](http://robots.engin.umich.edu/SoftwareData/Ford) | UMich | 2011 | Veh | IJRR | Urban | O | | O | O | | O | O | | | | | | | | [San francisco](https://sites.google.com/site/chenmodavid/datasets) | Stanford | 2011 | Veh | CVPR | Urban | O | | O | O | O | | O | | | | | | DMI | | [Annotated-laser](https://journals.sagepub.com/doi/10.1177/0278364910389840) | NTU | 2011 | Veh | IJRR | Urban | O | | | | O | O | O | | | | | | | | [MIT-DARPA](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) | MIT | 2010 | Veh | IJRR | Urban | O | | O | O | O | O | O | | | | | | | | [St Lucia Stereo](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) | UToronto | 2010 | Veh | ACRA | Urban | | | O | O | | | O | | | | | | | | [St Lucia Multiple Times](https://ieeexplore.ieee.org/abstract/document/5509547) | QUT | 2010 | Veh | ICRA | Urban | | | | O | | | O | | | | | | | | [Marulan](http://sdi.acfr.usyd.edu.au/) | ACFR | 2010 | Mob | IJRR | Terrain | O | | O | O | | O | O | | | O | | | IR | | [COLD](https://www.nada.kth.se/cas/COLD/) | KTH | 2009 | Hand | IJRR | Indoor | O | | | | O | O | O | | | | | | | | [NewCollege](http://www.robots.ox.ac.uk/NewCollegeData/) | Oxford-Robot | 2009 | Mob | IJRR | Urban | O | | O | O | | O | O | | | | | | | | [Rawseeds-indoor](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) | Milano | 2009 | Mob | IROSW | Indoor | O | O | O | | | O | O | | | | O | | | | [Rawseeds-outdoor](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) | Milano | 2009 | Mob | IROSW | Urban | O | O | O | O | | O | O | | | | O | | | | [FABMAP](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) | Oxford-Robot | 2008 | Veh | IJRR | Urban | | | | O | | | O | | | | | | | ## Evaluation _Evaluation methods for SLAM benchmarks_ - Trajectory Evaluation with Alignment [[Paper](http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf)], [[Code](https://github.com/uzh-rpg/rpg_trajectory_evaluation)] - Python package for the evaluation of odometry and SLAM [[Code](https://michaelgrupp.github.io/evo/)] - SLAMBench2.0: SLAM performance evaluation framework [[Code](https://github.com/pamela-project/slambench2)] ## Categorized By Topic ### Odometry _Dataset for odometry Benchmark_ - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) - [Google Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) - [Deep Inertial Odometry Dataset](http://deepio.cs.ox.ac.uk/) - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) - [Rosario Agricultural Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) - [Stereo Plenoptic Odometry Dataset](https://www.hs-karlsruhe.de/odometry-data/) ### Mapping _Dataset for mapping task_ - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) - [Complex Urban](http://irap.kaist.ac.kr/dataset/) - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) - [InteriorNet](https://interiornet.org/) - [FMDataset](https://github.com/zhuzunjie17/FastFusion) ### Place Recognition _Dataset gives correspondences of places (images)_ - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) ### Localization _Dataset for metric-level localization_ - [Cambridge Landmark Dataset](http://mi.eng.cam.ac.uk/projects/relocalisation/) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) ### Perception _Dataset with semantic labels / correspondences_ - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) - [CityScapes Dataset](https://www.cityscapes-dataset.com/) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) - [InteriorNet](https://interiornet.org/) ## Categorized By Characteristics ### Large-scale _City-scale map, kilometer level Map_ - [Complex Urban](http://irap.kaist.ac.kr/dataset/) - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) - [CityScapes Dataset](https://www.cityscapes-dataset.com/) - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) ### Long-term _Multi-session, long-term data collection_ - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) ### Map Complexity _Variation of mapping structures_ - [Complex Urban](http://irap.kaist.ac.kr/dataset/) - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Challenging data sets for point cloud registration - algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) ### Extreme Condition _Extreme environment, motions_ - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/): Underwater Environment - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#): Underground Environment - [CityScapes Dataset](https://www.cityscapes-dataset.com/): Foggy Scene - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets): Fast motion - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/): Smoky, dust, and Rain condition ## Categorized by Platform ### Vehicle _Commercial Vehicle (Four-wheeled on the road)_ - [Complex Urban Dataset](http://irap.kaist.ac.kr/dataset/) - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) - [CityScapes Dataset](https://www.cityscapes-dataset.com/) - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Day and Night with Lateral Pose Change Dataset](https://wiki.qut.edu.au/display/cyphy/Day+and+Night+with+Lateral+Pose+Change+Datasets) - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) - [Annotated-laser Dataset](http://any.csie.ntu.edu.tw/data) (Link Broken) - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) - [St Lucia Stereo Vehicular Dataset](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) - [MIT DARPA Urban Challenge Dataset](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) ### Mobile Robot _Mobile Robots (Ex. Husky, Rover.. )_ - [Rosario Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) - [Katwijk Beach Planetary Rover Dataset](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) - [Canadian Planetary Emulation Terrain 3D Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) - [Devon Island Rover Navigation Dataset](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) - [Multi-Robot Cooperative Localization and Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/mrclam/) - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) ### Unmanned Aerial Vehicle _Unmanned aerial robots include drone_ - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) ### Autonomous Underwater Vehicle _Underwater robots include ROV for simplicity_ - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) ### Unmanned Surface Vehicle _Water surface vehicle such as canoe and boat_ - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) ### Hand-held Device _Hand-held platform by human_ - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) - [Comprehensive RGB-D Benchmark (CoRBS)](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) - [Augmented ICL-NUIM Reconstruction Dataset](http://redwood-data.org/indoor/index.html) - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) - [Cosy Localization Database (COLD)](https://www.pronobis.pro/#data) - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) - [Deep Inertial Odometry Dataset](http://deepio.cs.ox.ac.uk/) - [InteriorNet](https://interiornet.org/) - [Stereo Plenoptic Dataset](https://www.hs-karlsruhe.de/odometry-data/) - [FMDataset](https://github.com/zhuzunjie17/FastFusion) ## Categorized by Environment ### Urban _City, campus, town, and infrastructures_ - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) - [ADVIO Dataset](https://github.com/AaltoVision/ADVIO) - [Stereo Plenoptic Dataset](https://www.hs-karlsruhe.de/odometry-data/) - [KAIST Day/Night Dataset](https://sites.google.com/view/multispectral/home) - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) - [Complex Urban](http://irap.kaist.ac.kr/dataset/) - [Multi Vehicle Stereo Event Camera Dataset](https://docs.google.com/spreadsheets/d/1mudM7LxXv09ywuQGDp3t_RlIjIdwzg_ZaMu78agLmH4/edit#gid=0) - [Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html) - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) - [CityScapes Dataset](https://www.cityscapes-dataset.com/) - [Oxford Robotcar Dataset](http://robotcar-dataset.robots.ox.ac.uk/) - [University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset](http://robots.engin.umich.edu/nclt/) - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) - [CCSAD (Stereo Urban) Dattaset](http://aplicaciones.cimat.mx/Personal/jbhayet/ccsad-dataset) - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) - [Cambridge Landmark Dataset](http://mi.eng.cam.ac.uk/projects/relocalisation/) - [Málaga Stereo and Laser Urban Data Set](https://www.mrpt.org/MalagaUrbanDataset) - [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/index.php) - [Alderley Day/Night Dataset](https://wiki.qut.edu.au/pages/viewpage.action?pageId=181178395) - [Challenging data sets for point cloud registration algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) - [Multi-Robot Cooperative Localization and Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/mrclam/) - [Ford Campus Vision and Lidar Dataset](http://robots.engin.umich.edu/SoftwareData/Ford) - [San Francisco Landmark Dataset](https://sites.google.com/site/chenmodavid/datasets) - [Annotated-laser Dataset](http://any.csie.ntu.edu.tw/data) (Link Broken) - [MIT DARPA Urban Challenge Dataset](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData) - [St Lucia Stereo Vehicular Dataset](http://asrl.utias.utoronto.ca/~mdw/uqstluciadataset.html) - [St Lucia Multiple Times of Day](https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day) - [New College Vision and Laser Data Set](http://www.robots.ox.ac.uk/NewCollegeData/) - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) - [FABMAP Dataset](http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset/) ### Indoor _Indoor environment_ - [FMDataset](https://github.com/zhuzunjie17/FastFusion) - [UZH-FPV Drone Racing](http://rpg.ifi.uzh.ch/uzh-fpv.html) - [Collaborative SLAM Dataset (CSD)](https://github.com/torrvision/CollaborativeSLAMDataset) - [InteriorNet](https://interiornet.org/) - [TUM-Visual-Inertial](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) - [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/research-e.php?content=db) - [Robot @ Home Dataset](http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/203-robot-at-home-dataset) - [SceneNet RBG-D Dataset](https://robotvault.bitbucket.io/scenenet-rgbd.html) - [EuRoC MAV Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) - [TUM Monocular Cameras Dataset](https://vision.in.tum.de/data/datasets/mono-dataset) - [Comprehensive RGB-D Benchmark (CoRBS)](http://corbs.dfki.uni-kl.de/?pagerd_tumlltzzf42zsv6de7b9) - [TUM Omnidirectional Cameras Dataset](https://vision.in.tum.de/data/datasets/omni-lsdslam) - [Augmented ICL-NUIM Reconstruction Dataset](http://redwood-data.org/indoor/index.html) - [ICL-NUIM RGBD Dataset](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) - [Microsoft 7 scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/) - [TUM RGB-D SLAM Dataset and Benchmark](https://vision.in.tum.de/data/datasets/rgbd-dataset) - [Cosy Localization Database (COLD)](https://www.pronobis.pro/#data) - [Rawseeds In/Outdoor Dataset](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) - [Google Cartographer](https://google-cartographer-ros.readthedocs.io/en/latest/data.html) ### Terrain _Rough terrain, underground, lake and farm_ - [Rosario Agricultural Dataset](http://www.cifasis-conicet.gov.ar/robot/doku.php) - [Visual-Inertial Canoe Dataset](https://databank.illinois.edu/datasets/IDB-9342111) - [Chilean Underground Mine Dataset](http://dataset.amtc.cl/#) - [Symphony Lake Dataset](http://dream.georgiatech-metz.fr/?q=node/79) - [Sugar Beets 2016, Agricultural Robot Dataset](http://www.ipb.uni-bonn.de/data/sugarbeets2016/) - [Katwijk Beach Planetary Rover Dataset](https://robotics.estec.esa.int/datasets/katwijk-beach-11-2015/) - [Solar-powered UAV Sensing and Mapping Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015) - [Event-Camera Dataset and Simulator](http://rpg.ifi.uzh.ch/davis_data.html) - [Canadian Planetary Emulation Terrain 3D Mapping Dataset](http://asrl.utias.utoronto.ca/datasets/3dmap/#Datasets) - [Challenging data sets for point cloud registration - algorithms](https://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration) - [Kagaru Airborne Stereo Dataset Dataset](http://asrl.utias.utoronto.ca/~mdw/kagarudataset.html) - [Devon Island Rover Navigation Dataset](http://asrl.utias.utoronto.ca/datasets/devon-island-rover-navigation/) - [Multi-Sensor Perception (Marulan) Dataset ](http://sdi.acfr.usyd.edu.au/) ### Underwater _Underwater floor, cave_ - [Aqualoc Underwater Dataset](http://www.lirmm.fr/aqualoc/) - [Underwater Caves SONAR and Vision Dataset](http://cirs.udg.edu/caves-dataset/) - [ACFR Marine Robotics Dataset](http://marine.acfr.usyd.edu.au/datasets/) ## Contributing Please Feel free to send a [pull request](https://github.com/youngguncho/awesome-slam-datasets/pulls) to modify the list or add datasets. ## License [![CC0](http://mirrors.creativecommons.org/presskit/buttons/88x31/svg/cc-zero.svg)](https://creativecommons.org/publicdomain/zero/1.0/) To the extent possible under law, [Younggun Cho](https://github.com/youngguncho) has waived all copyright and related or neighboring rights to this work.