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List of publicly available datasets for SLAM

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# SLAM Datasets

This file contains information about publicly available datasets suited for monocular, stereo, RGB-D and lidar SLAM.

Last update: 2021/02/04

## New College Dataset
- Year: 2009
- Publication: [The New College Vision and Laser Data Set](https://journals.sagepub.com/doi/10.1177/0278364909103911)
- Available sensors: GPS, odometry, stereo cameras, omnidirectional camera, lidar
- Ground truth: No
- [Link (not sure if it is still available)](https://www.robots.ox.ac.uk/NewCollegeData/)

## Rawseeds Datasets
- Year: 2009
- Publication: [RAWSEEDS ground truth collection systems for indoor self-localization and mapping](https://link.springer.com/article/10.1007/s10514-009-9156-5)
- Available sensors:
- Ground truth: Yes
- [Link](http://www.rawseeds.org/home/2009/10/12/autonomous-robots-journal-special-issue-characterizing-mobile-robot-localization-and-mapping-2009/)

## Ford Campus Dataset
- Year: 2011
- Publication: [Ford campus vision and lidar data set](https://journals.sagepub.com/doi/10.1177/0278364911400640)
- Available sensors: GPS/IMU, lidar, omnidirectional camera
- Ground truth: no
- [Link](http://robots.engin.umich.edu/SoftwareData/Ford)

## TUM RGB-D Dataset and Benchmark
- Year: 2012
- Publication: [A Benchmark for the Evaluation of RGB-D SLAM Systems](https://ieeexplore.ieee.org/document/6385773)
- Available sensors: Kinect/Xtion pro RGB-D cameras
- Ground truth: Yes
- [Link](https://vision.in.tum.de/data/datasets/rgbd-dataset)

## KITTI SLAM Datasets
- Year: 2012
- Publication: [Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite](https://www.computer.org/csdl/proceedings-article/cvpr/2012/424O3C04/12OmNAsBFIc)
- Available sensors: GPS/IMU, lidar, 2x stereo pairs
- Ground truth: Yes
[Link](http://www.cvlibs.net/datasets/kitti/eval_odometry.php)

## Málaga Stereo and Laser Datasets
- Year: 2013
- Publication: [The Málaga urban dataset: High-rate stereo and LiDAR in a realistic urban scenario](https://journals.sagepub.com/doi/10.1177/0278364913507326)
- Available sensors: GPS/IMU, lidar, stereo camera 
- Ground truth: Yes
[Link](https://www.mrpt.org/MalagaUrbanDataset)

## NCLT Dataset
- Year: 2015
- Publication: [University of Michigan North Campus Long-Term Vision and Lidar Dataset](https://journals.sagepub.com/doi/10.1177/0278364915614638)
- Available sensors: IMU/GPS, odometry, lidar, omnidirectional camera
- Ground truth: Yes
- [Link](http://robots.engin.umich.edu/nclt/)

## KITTI 360
- Year: 2016
- Publication: [Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer](https://ieeexplore.ieee.org/document/7780770)
- Available sensors: IMU/GPS, stereo, side looking cameras, lidar
- Ground truth: Yes
- [Link](http://www.cvlibs.net/datasets/kitti-360/)

## EuRoc MAV Dataset
- Year: 2016
- Publication: [The EuRoC micro aerial vehicle datasets](https://journals.sagepub.com/doi/abs/10.1177/0278364915620033)
- Available sensors: IMU, stereo
- Ground truth: Yes, also for point clouds
- [Link](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets)

## Omnidirectional Stereo Dataset
- Year: 2019
- Publication: [SweepNet: Wide-baseline Omnidirectional Depth Estimation](https://ieeexplore.ieee.org/document/8793823)
- Available sensors: Synthetic omnidirectional camera
- Ground truth: Yes
- [Link](http://cvlab.hanyang.ac.kr/project/omnistereo/)

## ETH 3D
- Year: 2019
- Publication: [BAD SLAM: Bundle Adjusted Direct RGB-D SLAM](https://ieeexplore.ieee.org/document/8954208)
- Available sensors: IMU, custom RGB-D and stereo cameras
- Ground truth: Yes
- [Link](https://www.eth3d.net/slam_documentation)

## KAIST Urban Dataset
- Year: 2019
- Publication: [Complex urban dataset with multi-level sensors from highly diverse urban environments](https://journals.sagepub.com/doi/10.1177/0278364919843996)
- Available sensors: GPS/IMU, odometry, stereo cameras, lidar
- Ground truth: No (only results from some SLAM algorithms)
- [Link](https://irap.kaist.ac.kr/dataset/system.html)

## Newer College Dataset
- Year: 2020
- Publication: [The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth](https://arxiv.org/abs/2003.05691)
- Available sensors: IMU, stereo cameras, lidar
- Ground truth: Yes
- [Link](https://ori-drs.github.io/newer-college-dataset/)

## TartanAIR
- Year: 2020
- Publication: [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://arxiv.org/abs/2003.14338)
- Available sensors: Synthetic stereo and lidar
- Ground truth: Yes
- [Link](https://theairlab.org/tartanair-dataset/)

## Ford AV Dataset
- Year: 2020
- Publication: [Ford Multi-AV Seasonal Dataset](https://arxiv.org/abs/2003.07969)
- Available sensors: GPS/IMU, lidar, 2x stereo pairs (forward and backword), one dashboard camera, 2 side cameras
- Ground truth: Yes
- [Link](https://avdata.ford.com/)

## UASol
- Year: 2021
- Publication: [UASOL:
A Large-scale High-resolution Stereo Dataset](https://www.nature.com/articles/s41597-019-0168-5)
- Available sensors: GPS, Zed stereo camera
- Ground truth: Poses given by Zed API
- [Link](http://www.rovit.ua.es/dataset/uasol/)

# About

Maintainer: Bruno Silva (bruno.silva AT ect.ufrn.br)\
Natalnet Laboratory for Perceptual Robotics\
Federal University of Rio Grande do Norte (UFRN)

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