datasets

A repository of Robotics datasets (Scroll down! There are more pages...)

What's this?
Scroll down! Below, there is a large collection of robotic datasets from various mobile robots, vehicles, or just handheld sensors. Available datasets include sensors from 2D laser scanners up to RTK GPS, stereo cameras or 3D ToF cameras.

File formats?
You won't have to struggle among different dataset formats, since all here are in the Rawlog common robotics dataset format, capable of handling any variety of sensors with precise timestamping. More information on the format and available software tools to visualize and manipulate the files can be found here.

Who?
The repository began to hold datasets collected by the MAPIR lab, but since then it has growth and now holds datasets from many other labs which were previously available online, and were converted into the Rawlog format. In those cases, it has been clearly stated the original authors and webs.

Yours not here?
If you have a dataset and want it to appear here, contact us at

. You might be also interested in submitting it to other webs such as Radish.

datasets

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Collection of 33 Kinect (RGB+D) datasets with 6D ground truth (by the CVPR team @ Technische Universitat Munchen)

DOWNLOAD	Odometry?	SICK LMS?	HOKUYO LMS?	Mono. cam.?	Stereo cam.?	GPS?	Inertial?	eNoses?	3D cam.
(rawlog_rgbd_dataset_freiburg1_360.tgz - 0.4Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_desk2.tgz - 0.3Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_desk.tgz - 0.3Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_floor.tgz - 0.7Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_ir_calibration.tgz - 0.6Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_plant.tgz - 0.7Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_rgb_calibration.tgz - 0.9Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_room.tgz - 0.8Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_rpy.tgz - 0.4Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_teddy.tgz - 0.9Gb)							•		•
(rawlog_rgbd_dataset_freiburg1_xyz.tgz - 0.5Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_360_hemisphere.tgz - 1.4Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_360_kidnap.tgz - 0.7Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_coke.tgz - 1.3Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_desk.tgz - 1.9Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_desk_with_person.tgz - 2.5Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_dishes.tgz - 1.5Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_flowerbouquet_brownbackground.tgz - 1.7Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_flowerbouquet.tgz - 1.2Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_ir_calibration.tgz - 0.7Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_large_checkerboard_calibration.tgz - 1.4Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_large_no_loop.tgz - 1.8Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_large_with_loop.tgz - 2.8Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_metallic_sphere2.tgz - 1.2Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_metallic_sphere.tgz - 1.0Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_pioneer_360.tgz - 0.4Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_pioneer_slam2.tgz - 1.2Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_pioneer_slam3.tgz - 0.9Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_pioneer_slam.tgz - 1.3Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_rgb_calibration.tgz - 1.1Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_rpy.tgz - 2.0Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_teddy.tgz - 1.1Gb)							•		•
(rawlog_rgbd_dataset_freiburg2_xyz.tgz - 2.2Gb)							•		•
Record date: 2011 Record place: Freiburg Robot/Vehicle: Hand-held kinect Additional info: This dataset is a derived work from the collection [1] published by the CVPR team in the TUM University. According to the original "Creative Commons Attribution" license, this derived work is also released under identical terms. The dataset has been converted into the Rawlog format [2] and published in the aim of it being useful to MRPT users. It can be visualized and manipulated with MRPT tools, available for download at [3]. This tutorial explains how to parse the datasets to emulate real-time applications from an MRPT program: http://www.mrpt.org/Switching_between_reading_live_Kinect_RGBD_dataset_f... Ubuntu users can also install: sudo apt-get install libmrpt-dev mrpt-apps and then right-click on .rawlog files to open them with RawLogViewer (see a demo video* on YouTube). Note that RGB, depth and accelerometer data are available for each "observation". 3D point clouds haven't been pre-generated to save space, but they can be easily recovered by using "rawlog-edit": rawlog-edit -i [INPUT.rawlog] -o [OUTPUT.rawlog] --generate-3d-pointclouds Please, cite the original works by the corresponding authors when citing this dataset [4,5]. To download all the datasets in a row, download this list and invoke: wget -i rgbd_tum_datasets_2011.txt The source code of the tool used to convert these datasets into the "rawlog" format is available as one of MRPT's code examples. Some notes about the differences between Kinect datasets in Rawlog format and in the TUM originals: In MRPT, a Kinect observation object (CObservation3DRangeScan) can store the three fields simultaneously: range image, RGB data and projected 3D point coordinates. An observation is created only when both range & RGB data are available in the dataset with a difference in timestamp below half the kinect period (1/30 sec). That means that due to ocasional losses in the original datasets, the rate of observations is less than 30Hz. Only one IMU entry is kept per RGB+Range pair. If you need high-rate accelerometer data, please download the TUM original data files. [1] Original datasets: http://cvpr.in.tum.de/data/datasets/rgbd-dataset/ [2] Rawlog format specification: http://www.mrpt.org/Rawlog_Format [3] MRPT downloads: http://www.mrpt.org/download [4] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=sturm11rss-rgbd [5] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=engelhard11euron-wo...