Awesome SLAM Datasets

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. 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.

We provide several category for each access of the data.

News !!

Update: 2024-07-31

• Add FusionPortable Series (V1: Campus-scene with diverse platforms, V2: From Campus to Highway, scalable environments.)

Update: 2024-4-18

• Add VBR SLAM Dataset

Update: 2023-06-20

• Add 4Seasons
• Add M2DGR
• Add Tartanair

Update: 2022-8-15

• Add VECtor Dataset

Update: 2022-04-07

• Add Hilti SLAM Dataset

Update: 2021-03-24

• Add PennCosyVIO

Update: 2021-02-26

• We add a new visual localization and mapping dataset named "ICL Dataset".
• Added OpenVINS evaulation toolbox link.

Update: 2020-02-29

• We updated SLAMBench from version 2.0 to 3.0.

Update: 2019-09-24

• We add FMDataset 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' will be held!. We are pretty sure that there will be many 'new' and 'hot' datasets intruduced at the workshop.
• We add evaluation section (Tools for trajectory and SLAM methods evaluation)
• We add a new UAV dataset, UZH-FPV Drone Racing 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)

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

• Awesome SLAM Datasets
  • News !!
  • Update: 2024-07-31
  • Update: 2023-06-20
  • Update: 2022-8-15
  • Update: 2022-04-07
  • Update: 2021-03-24
    • Update: 2021-02-26
    • Update: 2020-02-29
    • Update: 2019-09-24
  • TODO
  • Category
  • Overall datasets chart (Simplified Version)
  • Evaluation
  • Categorized By Topic
    • Odometry
    • Mapping
    • Place Recognition
    • Localization
    • Perception
  • Categorized By Characteristics
    • Large-scale
    • Long-term
    • Map Complexity
    • Extreme Condition
  • Categorized by Platform
    • Vehicle
    • Mobile Robot
    • Unmanned Aerial Vehicle
    • Autonomous Underwater Vehicle
    • Unmanned Surface Vehicle
    • Hand-held Device
  • Categorized by Environment
    • Urban
    • Indoor
    • Terrain
    • Underwater
    • Simulation
  • Contributing
  • License

Overall datasets chart (Simplified Version)

Link to Full version

Shortname	Affiliation	Year	Platform	Publication	Environment	GT-Pose	GT-Map	IMU	GPS	Labels	Lidar	Cameras	RGBD	Event	Radar	Sonar	DVL	Other
VBR SLAM Dataset	Sapienza University of Rome	2024	Hand, Veh	ICRA	Indoor + Outdoor	O		O			O	O						Stereo Cams; Multiple configuration; SLAM Benchmark
4Seasons Dataset	Technical University of Munich	2020	Veh	GCPR	Outdoor	O	O	O	O		O	O	O	O
M2DGR	Shanghai Jiaotong University	2021	Mob	RA-L	Indoor + Outdoor	O		O	O		O	O	O	O
TartanAir	CMU	2020	UAV	IROS	Simulation	O	O	O				O		O
VECtor Dataset	ShanghaiTech University	2022	Hand	RA-L	Indoor + Outdoor	O		O			O	O	O	O
Hilti SLAM Dataset	Hilti, Oxford, UZH	2022	Hand		Indoor + Outdoor	O	O	O			O	O
MADMAX Mars Dataset	German Aerospace Center (DLR)	2021	Handheld Rover-Mockup	JFR	Rough Terrain, Planetary analog	O		O	O			O	O					Stereo Cams + Stereo Omnidirectional Cameras; Navigation Benchmark
FinnForest Dataset	Tampere University	2020	Veh	RAS journal	Forest, Terrain	O						O						Multiple Stereo Pairs ; Sampling Rate(40, 13, and 8Hz)
PennCOSYVIO Dataset	University of Pennsylvania	2017	Hand	ICRA	Indoor + Outdoor	O		O				O
ICL Dataset	Imperial College	2019	Hand, MAV	ICRA	Indoor	O						O	O
UZH-FPV Drone Racing	UZH, ETH	2019	UAV	ICRA	Indoor, Urban	O		O				O		O
FMDataset	Hangzhou Dianzi / Tsinghua	2019	Hand	ICME	Indoor			O					O
Rosario Dataset	CONICET-UNR	2019	Mob	IJRR	Terrain	O		O				O						Encoder
Collaborative SLAM Dataset (CSD)	Oxford	2018	Hand	TVCG/ISMAR	Indoor	O	O	O				O	O					Tango (Asus ZenFone AR)
ADVIO Dataset	Aalto U	2018	Hand	ECCV	Urban	O	O	O				O						iPhone, Tango, Pixel
DeepIO Dataset	Oxford	2018	Hand	Arxiv	Indoor	O		O
Aqualoc Dataset	ONERA-DTIS	2018	ROV	IROS WS	Underwater	O		O				O						Pressure Sensor
InteriorNet	Imperial College	2018	Hand	BMVC	Indoor	O	O	O		O		O	O	O				Texture, Lighting, Context, Optical Flow
SPO Dataset	TUM, Karlsruhe	2018	Hand	Arxiv	Urban	O						O						Plenoptic Camera
Complex Urban	KAIST-IRAP	2018	Veh	ICRA	Urban	O	O	O	O		O							Encoder
KAIST Day/Night	KAIST-RCV	2018	Veh	T-ITS	Urban	O		O	O	O	O	O						Thermal Camera
TUM-Visual-Inertial	TUM	2018	Hand	Arxiv	Indoor, Urban			O					O		O
Multi Vech Event	Upenn	2018	Veh	RA-L	Urban	O		O	O		O	O		O
VI Canoe	UIUC	2018	USV	IJRR	Terrain	O		O	O			O
MPO-Japan	ETH-RPG	2017	UAV / Hand	IJRR	Indoor	O		O				O		O
Underwater Cave	UDG	2017	AUV	IJRR	Underwater	O		O				O				O	O	Profiling Sonar
Robot @ Home	MRPT	2017	Mob	IJRR	Indoor	O	O			O	O		O					Semantic Labels
Zurich Urban MAV	ETH-RPG	2017	UAV	IJRR	Urban	O		O	O			O						Streetview images
Chilean Underground	Trimble	2017	Mob	IJRR	Terrain (Underground)	O					O	O			O			Encoder
SceneNet RGB-D	Imperial	2017	Hand	ICCV	Indoor	O				O			O
Symphony Lake	Georgia Tech	2017	USV	IJRR	Terrain (Lake)			O	O		O	O						PTZ camera, Longterm
Agricultural robot	Bonn	2017	Mob	IJRR	Terrain	O			O	O	O	O	O					Multispectral camera
Beach Rover	TEC-MMA	2017	Mob		Terrain	O		O	O		O	O	O					Encoder
EuRoC	ETH-ASL	2016	UAV	IJRR	Indoor	O	O	O				O
Cartographer	Google	2016	Hand	ICRA	Indoor			O			O	O
TUM-Mono	TUM	2016	Hand	Arxiv	Indoor, Urban										O			Photometric Calibration
Cityscape	Daimler AG	2016	Veh	CVPR	Urban	O			O	O		O
Solar-UAV	ETHZ	2016	UAV	CVPR	Terrain	O	O	O	O		O
CoRBS	DFKI	2016	Hand	WACV	Indoor	O	O						O
Oxford-robotcar	Oxford	2016	Veh	IJRR	Urban	O		O	O		O	O
NCLT	UMich	2016	Mob	IJRR	Urban	O		O	O		O							FOG
RPG-event	Kyushu U	2016	Veh	IROS	Urban, Terrain			O	O		O	O						FARO 3D
CCSAD	CIMAT	2015	Veh	CAIP	Urban			O	O			O
TUM-Omni	TUM	2015	Hand	IROS	Indoor, Urban							O
Augmented ICL-NUIM	Redwood	2015	Hand	CVPR	Indoor	O	O						O
Cambridge Landmark	Cambridge	2015	Hand	ICCV	Urban	O	O					O
ICL-NUIM	Imperial	2014	Hand	ICRA	Indoor	O	O						O
MRPT-Malaga	MRPT	2014	Veh	AR	Urban			O	O		O	O
KITTI	KIT	2013	Veh	IJRR	Urban	O		O	O	O	O	O
Canadian Planetary	UToronto	2013	Mob	IJRR	Terrain	O		O	O		O (sensor)	O
Microsoft 7 scenes	Microsoft	2013	Hand	CVPR	Indoor	O	O					O
SeqSLAM	QUT	2012	Veh	ICRA	Urban					O		O
ETH-challenging	ETH-ASL	2012	Hand	IJRR	Urban, Terrain			O	O		O	O	O
TUM-RGBD	TUM	2012	Hand / Mob	IROS	Indoor	O		O					O
ASRL-Kagara-airborne	UToronto	2012	UAV	FSR	Terrain			O	O			O
Devon Island Rover	UToronto	2012	Mob	IJRR	Terrain	O			O			O						Sunsensor, Inclinometer
ACFR Marine	ACFR	2012	AUV		Underwater	O		O		O		O				O
UTIAS Multi-Robot	UT-IAS	2011	Mob	IJRR	Urban	O				O
Ford Campus	UMich	2011	Veh	IJRR	Urban	O		O	O		O	O
San francisco	Stanford	2011	Veh	CVPR	Urban	O		O	O	O		O						DMI
Annotated-laser	NTU	2011	Veh	IJRR	Urban	O				O	O	O
MIT-DARPA	MIT	2010	Veh	IJRR	Urban	O		O	O	O	O	O
St Lucia Stereo	UToronto	2010	Veh	ACRA	Urban			O	O			O
St Lucia Multiple Times	QUT	2010	Veh	ICRA	Urban				O			O
Marulan	ACFR	2010	Mob	IJRR	Terrain	O		O	O		O	O			O			IR
COLD	KTH	2009	Hand	IJRR	Indoor	O				O	O	O
NewCollege	Oxford-Robot	2009	Mob	IJRR	Urban	O		O	O		O	O
Rawseeds-indoor	Milano	2009	Mob	IROSW	Indoor	O	O	O			O	O				O
Rawseeds-outdoor	Milano	2009	Mob	IROSW	Urban	O	O	O	O		O	O				O
FABMAP	Oxford-Robot	2008	Veh	IJRR	Urban				O			O

Evaluation

Evaluation methods for SLAM benchmarks

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

Categorized By Topic

Odometry

Dataset for odometry Benchmark

• 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
• Deep Inertial Odometry Dataset
• Aqualoc Underwater Dataset
• Rosario Agricultural Dataset
• Stereo Plenoptic Odometry Dataset
• MADMAX Mars Dataset
• Hilti SLAM Dataset
• VECtor Dataset

Mapping

Dataset for mapping task

• FusionPortable
• Collaborative SLAM Dataset (CSD)
• 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
• MADMAX Mars 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

• FusionPortable
• VBR SLAM Dataset
• ICL Dataset
• Cambridge Landmark Dataset
• KITTI Vision Benchmark Suite
• Microsoft 7 scenes
• San Francisco Landmark Dataset
• MADMAX Mars 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
• InteriorNet
• FusionPortableV2

Categorized By Characteristics

Large-scale

City-scale map, kilometer level Map

• 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

Long-term

Multi-session, long-term data collection

• 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

Map Complexity

Variation of mapping structures

• 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

Extreme Condition

Extreme environment, motions

• 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

Categorized by Platform

Vehicle

Commercial Vehicle (Four-wheeled on the road)

• 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

Mobile Robot

Mobile Robots (Ex. Husky, Rover.. )

• 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

Unmanned Aerial Vehicle

Unmanned aerial robots include drone

• 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

Autonomous Underwater Vehicle

Underwater robots include ROV for simplicity

• Aqualoc Underwater Dataset
• Underwater Caves SONAR and Vision Dataset
• ACFR Marine Robotics Dataset

Unmanned Surface Vehicle

Water surface vehicle such as canoe and boat

• Visual-Inertial Canoe Dataset
• Symphony Lake Dataset

Hand-held Device

Hand-held platform by human

• VBR SLAM Dataset
• Collaborative SLAM Dataset (CSD)
• 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
• Deep Inertial Odometry Dataset
• InteriorNet
• Stereo Plenoptic Dataset
• FMDataset
• Hilti SLAM Dataset

Categorized by Environment

Urban

_City, campus, town, and infrastructures

• VBR SLAM Dataset
• UZH-FPV Drone Racing
• ADVIO Dataset
• 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

Indoor

Indoor environment

• VBR SLAM Dataset
• ICL Dataset
• FMDataset
• UZH-FPV Drone Racing
• Collaborative SLAM Dataset (CSD)
• 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

Terrain

Rough terrain, underground, lake and farm

• 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

Underwater

Underwater floor, cave

• Aqualoc Underwater Dataset
• Underwater Caves SONAR and Vision Dataset
• ACFR Marine Robotics Dataset

Simulation

Simulation Scene

• TartanAir

Contributing

Please Feel free to send a pull request to modify the list or add datasets.

License

To the extent possible under law, Younggun Cho has waived all copyright and related or neighboring rights to this work.