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Updated link for MPO dataset
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youngguncho committed Dec 13, 2021
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- 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)
- [Complex Urban Dataset (KAIST)](https://sites.google.com/view/complex-urban-dataset) now includes stereo camera images! (published in IJRR 2019)

## TODO
- Add datasets introduced in CVPR 2019
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| [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 |
| [Complex Urban](https://sites.google.com/view/complex-urban-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 | | | | |
| [MPO-Japan](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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 |
Expand Down Expand Up @@ -175,8 +175,8 @@ _Dataset for odometry Benchmark_
### 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)
- [Complex Urban](https://sites.google.com/view/complex-urban-dataset)
- [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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/)
Expand Down Expand Up @@ -224,9 +224,9 @@ _Dataset with semantic labels / correspondences_

### Large-scale
_City-scale map, kilometer level Map_
- [Complex Urban](http://irap.kaist.ac.kr/dataset/)
- [Complex Urban](https://sites.google.com/view/complex-urban-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)
- [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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/)
Expand All @@ -249,9 +249,9 @@ _Multi-session, long-term data collection_

### Map Complexity
_Variation of mapping structures_
- [Complex Urban](http://irap.kaist.ac.kr/dataset/)
- [Complex Urban](https://sites.google.com/view/complex-urban-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)
- [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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)
Expand All @@ -271,10 +271,10 @@ _Extreme environment, motions_
### Vehicle
_Commercial Vehicle (Four-wheeled on the road)_
- [FinnForest Dataset](http://urn.fi/urn:nbn:fi:att:9b8157a7-1e0f-47c2-bd4e-a19a7e952c0d)
- [Complex Urban Dataset](http://irap.kaist.ac.kr/dataset/)
- [Complex Urban Dataset](https://sites.google.com/view/complex-urban-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)
- [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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)
Expand Down Expand Up @@ -359,7 +359,7 @@ _City, campus, town, and infrastructures_
- [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/)
- [Complex Urban](https://sites.google.com/view/complex-urban-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)
Expand Down Expand Up @@ -393,7 +393,7 @@ _Indoor environment_
- [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)
- [Multi-modal Panoramic 3D Outdoor Dataset (MPO)](https://robotics.ait.kyushu-u.ac.jp/en/archives/research/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)
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