公开数据集（VPR、深度学习训练等）：具有光照变化、视点变化、标签、辅助信息（GPS、IMU）

参考：PDF
[1] Zhang X , Wang L , Su Y . Visual Place Recognition: A Survey from Deep Learning Perspective[J]. Pattern Recognition, 2020.

a. http://www.robots.ox.ac.uk/∼mobile/IJRR_2008_Dataset/data.htm
b https://ori.ox.ac.uk/older-projects/new-college-dataset/
c http://www.rawseeds.org/home/
d http://robots.engin.umich.edu/SoftwareData/Ford
e https://www.mrpt.org/malaga_dataset_2009
f http://www.cvlibs.net/datasets/kitti/eval_odometry.php
g https://wiki.qut.edu.au/display/cyphy/St+Lucia+Multiple+Times+of+Day
h https://www.nada.kth.se/cas/COLD/
i https://robotcar-dataset.robots.ox.ac.uk/
j https://goo.gl/tqmWyq
k https://wiki.qut.edu.au/display/cyphy/Michael+Milford+Datasets+and+Downloads
l https://nrkbeta.no/2013/01/15/
m http://3dvis.ri.cmu.edu/data-sets/localization/
n http://aisdatasets.informatik.uni-freiburg.de/freiburg_across_seasons/
o https://goo.gl/R0QYU2
p https://vision.in.tum.de/data/datasets/rgbd-dataset
q https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/
r https://www.doc.ic.ac.uk/∼ahanda/VaFRIC/iclnuim.html
s http://www.cvlibs.net/datasets/kitti/eval_semantics.php
t https://www.cityscapes-dataset.com/
u https://www.visuallocalization.net/datasets/
v http://mi.eng.cam.ac.uk/projects/relocalisation/#dataset
w http://www.ok.ctrl.titech.ac.jp/∼torii/project/repttile/
x http://www.ok.ctrl.titech.ac.jp/∼torii/project/247/
y https://goo.gl/OXeL2X
z http://hcr.mines.edu/code/MOLP.html
aa http://robots.engin.umich.edu/nclt/
ab http://www.v4rl.ethz.ch/research/datasets-code.htmls
ac https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdataset
ad https://goo.gl/GtMQkv
ae https://www.mapillary.com/dataset/places
af https://sites.google.com/view/mulran-pr