Repository of robotics and computer vision datasets

  • What’s this? Below you can find 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 with different dataset formats: all are provided in the Rawlog common robotics dataset format, capable of handling any variety of sensors with precise timestamping.
  • Who? The repository began to hold datasets collected by the MAPIR lab, but eventually grew up and now also holds datasets from many other labs, which have been converted into the Rawlog format. In those cases, it has been clearly stated the original authors.

Dataset repository

The Málaga Stereo and Laser Urban Data Set

  The Málaga Stereo and Laser Urban Data Set

  • Sensors: Stereo camera, IMU, GPS, 2xSICK LMS, 3xHOKUYO
  • Recorded at: Málaga (Spain)
  • Available files: 15
  • Additional info:
    This dataset was gathered entirely in urban scenarios with a car equipped with several sensors, including one stereo camera (Bumblebee2) and five laser scanners. One distinctive feature of the present dataset is the existence of high-resolution stereo images grabbed at high rate (20fps) during a 36. ( Read more...)
odor_classification

  Dataset for Mobile Robotics Olfaction

  • Sensors: eNoses
  • Recorded at: University of Malaga (2012)
  • Available files: 1
  • Additional info:
    A collectionof 3 data-sets for Odor Classification with a Mobile Robot: Classification_DataSet_1 --> Controlled gas pulses. Classification_DataSet_2 --> Classification with different gas sensors (MCE-nose). Classification_DataSet_3 --> Classification in turbulent environments. See relat ( Read more...)
TUM_RGBD_datasets_screenshot

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

  • Sensors: RGBD, IMU (not in freiburg3), Ground truth
  • Recorded at: Freiburg (2011-2012)
  • Available files: 44
  • 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 publis ( Read more...)
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Campus 0L

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Campus 2L

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Campus RT

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Parking 0L

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Parking 2L

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
Malaga Dataset 2009

  Dataset: Málaga dataset 2009 – Parking 6L

  • Sensors: 2xSICK LMS, 2xHokuyo scanners, 2xCameras, 3xRTK GPS, IMU
  • Recorded at: Malaga (Nov 2008)
  • Available files: 1
  • Additional info:
    This dataset has associated 6D ground truth. See the dataset paper.
DatasetThumb_malaga

  Málaga 2006 campus dataset

  • Sensors: Odometry, SICK LMS
  • Recorded at: University of Malaga (2006-01JAN-21)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 1.9Km approx. RAWLOG ENTRIES: 9400 approx. This dataset was firstly presented in the paper (can be cited as a reference for this dataset): PDF, Read more...)
DatasetThumb_threelasers

  Dataset: 3 horizontal lasers

  • Sensors: Odometry, SICK LMS, 2x Hokuyo LMS.
  • Recorded at: University of Malaga, ETSI.Telecomunicacion, Corridor 2.3 (2007-MAY-15).
  • Available files: 1
  • Additional info:
    Robot: SENA PATH LENGTH: 20m RAWLOG ENTRIES: 505
DatasetThumb_2230_enoses

  Dataset: With eNose, at Malaga Office 2.2.30

  • Sensors: Odometry, SICK LMS, Hokuyo, 2x eNoses
  • Recorded at: University of Malaga (2006-DEC-18)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 21m RAWLOG ENTRIES: 1768.
Dataset_malaga_floor2.3_2lasers_stereo

  Dataset: Málaga, corridor 2.3

  • Sensors: Odometry, SICK LMS, Hokuyo, Stereo
  • Recorded at: University of Malaga (2007-MAY-22)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 175m. RAWLOG ENTRIES: 3768.
DatasetThumb_corridor2.3_manyTimes_verticalLaser

  Dataset: Málaga, corridor 2.3 (vertical laser)

  • Sensors: Odometry, SICK LMS (horz), Hokuyo (vert.)
  • Recorded at: University of Malaga (2006-JAN-20)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 385m. RAWLOG ENTRIES: 2190.
Dataset_malaga_large_floor2.3_1laser

  Dataset: Long walk in corridor 2.3

  • Sensors: Odometry, SICK LMS, Hokuyo
  • Recorded at: University of Malaga (2007-MAY-17)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 290m. RAWLOG ENTRIES: 2444.
Dataset_kenmore_pradoroof

  Dataset: Kenmore

  • Sensors: 2xSICK LMS
  • Recorded at: Suburban streets in Kenmore, QLD, Australia (2006-NOV-20).
  • Available files: 1
  • Additional info:
    Robot/Vehicle: A Toyota Prado with two SICK LMS on its roof. PATH LENGTH: 18 Km approx. RAWLOG ENTRIES: 262850. See also the next rawlog for artificially added odometry from scan matching. AUTHORS: Michael Bosse, from Australia's Commonwealth Scientific and Ind ( Read more...)
Dataset_kenmore_pradoroof_decimated

  Dataset: Kenmore (decimated + estimated odometry)

  • Sensors: Odometry, 2xSICK LMS
  • Recorded at: Suburban streets in Kenmore, QLD, Australia (2006-NOV-20)
  • Available files: 1
  • Additional info:
    Robot/Vehicle: A Toyota Prado with two SICK LMS on its roof. PATH LENGTH: 18 Km approx. RAWLOG ENTRIES: 26283. AUTHORS OF THE ORIGINAL DATASET: Michael Bosse, from Australia's Commonwealth Scientific and Industrial Research Organisation (CSIRO). Original dataset available  ( Read more...)
Dataset_edmonton

  Dataset: Edmonton 2002

  • Sensors: Odometry, SICK LMS
  • Recorded at: Edmonton Convention, Centre (Site of the AAAI 2002 Grand Challenge) (2002-JUL-28)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 327m approx. RAWLOG ENTRIES: 6010. AUTHORS: Nick Roy, MIT. Original dataset available here.
Dataset_victoria_park

  Dataset: The Victoria Park

  • Sensors: Odometry, SICK LMS, GPS
  • Recorded at: The Victoria Park, Sydney, Australia.
  • Available files: 1
  • Additional info:
    PATH LENGTH: 4Km approx. RAWLOG ENTRIES: 4832. AUTHORS: Dr. Jose Guivant, from the University of Sydney. Original dataset available here.
Dataset_monoslam_davison

  Dataset: A. Davison’s Monoslam test video

  • Sensors: Camera
  • Recorded at: Indoor, office scenario.
  • Available files: 1
  • Additional info:
    PATH LENGTH: A few meters. RAWLOG ENTRIES: 1000. AUTHORS: Dr. Andrew Davison, from the Imperial College London. Original dataset available here.
Dataset_intel

  Dataset: Intel (2003)

  • Sensors: Odometry, SICK LMS
  • Recorded at: Interior of the Intel Research Lab in Seattle (2003)
  • Available files: 1
  • Additional info:
    PATH LENGTH: 506m approx. RAWLOG ENTRIES: 5452. AUTHORS: Dieter Fox, University of Washington. Original dataset available here.
fr079_maps_gridmap_no00

  Dataset: fr079

  • Sensors: Odometry, SICK LMS
  • Recorded at: Building 079 at the University of Freiburg (DEC/2003).
  • Available files: 1
  • Additional info:
    AUTHORS: This dataset was recorded by Cyrill Stachniss in Building 079 at the University of Freiburg. This is a converted version from CARMEN logs, which were downloaded from: - D. Holz & S. Behnke:  Read more...)
3 comments on “Repository of robotics and computer vision datasets
  1. mounir says:

    Dears researchers,
    Im working on integration GPS , IMU and Odometer in embedded system(FPGA) , I am searching for dataset including GPS(normal),IMU and Odometry plus ground truth ,I would be grateful if you could help me to find it, because i have seen some dataset i didn’t find what im looking for .
    I look forward to hearing from you dears ,
    thank you

    Waiting for an answer
    Mounir.

    • It might not be fulfilling all your requirement but you can have a look at the “Challenging data sets for point cloud registration algorithms” for a ground truth in the mm range and GPS signals. There is no odometry and the data sets cover a smaller area than car based data sets (~60 m).

      F. Pomerleau, M. Liu, F. Colas, and R. Siegwart, Challenging data sets for point cloud registration algorithms, International Journal of Robotic Research, vol. 31, no. 14, pp. 1705–1711, Dec. 2012

      I hope this help.

      Frank

  2. Mounir says:

    thank you a Lot Mr Frank , unfortunately it does not contain all what i need but it’s helpful dataset
    thank u again
    Mounir

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