SLAM数据集整理

The Rawseeds Project: Indoor and outdoor datasets with GPS, odometry, stereo, omnicam and laser measurements for visual, laser-based, omnidirectional, sonar and multi-sensor SLAM evaluation.

http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/

CMU Visual Localization Data Set: Dataset collected using the Navlab 11 equipped with IMU, GPS, Lidars and cameras.

http://3dvis.ri.cmu.edu/data-sets/localization/

Malaga Dataset 2009 and Malaga Dataset 2013: Dataset with GPS, Cameras and 3D laser information, recorded in the city of Malaga, Spain.

https://blog.csdn.net/qq_29828623/article/details/64126601

ETH：ICRA 2015-Aerial Inspection Datasets

https://projects.asl.ethz.ch/datasets/doku.php?id=koptinspection:koptinspection

快速飞行无人机GPS+IMU数据集

https://github.com/KumarRobotics/msckf_vio/wiki/Dataset

https://arxiv.org/abs/1712.00036

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong

GNSS+雷达+IMU+camera+GNSS-RTK/INS

https://www.polyu-ipn-lab.com/urbannav 

TartanAir: A Dataset to Push the Limits of Visual SLAM

http://theairlab.org/tartanair-dataset

包括双目RGB图像，深度图像，分割，光流，相机姿态和LiDAR点云

EU Long-term Dataset with Multiple Sensors for Autonomous Driving

https://epan-utbm.github.io/utbm_robocar_dataset/

传感器：双目相机 雷达 鱼眼 GNSS IMU

The Málaga Stereo and Laser Urban Data Set

https://www.mrpt.org/MalagaUrbanDataset

传感器：Stereo camera+IMU+GPS+2xSICK LMS+3xHOKUYO 

非rosbag文件,提供文本格式或者二进制格式，The Málaga Urban Dataset: High-rate Stereo and Lidars in a realistic urban scenario“, The International Journal of Robotics Research (IJRR), Feb 2014, vol. 33, no. 2, 207-214. 

KAIST Urban Data Set

https://irap.kaist.ac.kr/dataset/

传感器：双目相机+雷达+GPS+IMU+FOG

备注：原文件不是rosbag格式,但提供了相关的工具,可以播放rosbag以及可视化。下载数据集需要填写教育邮箱(.edu.cn),然后维护那边同意之后会发邮件。邮件最后是下载地址,类似下面这两个。
urban30:
https://drive.google.com/drive/folders/1OizXFczlctIfFvfpw4R1klLDKJM-MznU?usp=sharing
urban22:
https://drive.google.com/drive/folders/1iLfzg5Y66GN52komL22CISWVV6_T99O4?usp=sharing

The Rosario Dataset

https://www.cifasis-conicet.gov.ar/robot/doku.php

这个数据集主要是在室外农田环境下采集的,包含IMU、GPS、Stereo和里程计数据

OpenLORIS-Scene数据集：Are We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAM

解决服务机器人长期变化的环境中的SLAM问题 D435i+IMU+lidar+鱼眼，真实机器人记录的视觉， 惯性和里程数据以及通过运动捕捉系统获取的地面真实机器人轨迹来帮助评估SLAM的成熟度和场景理解算法。ICra2020

https://lifelong-robotic-vision.github.io/dataset/scene

MVSEC—Multi Vehicle Stereo Event Camera Dataset

双目事件相机的数据从 car, motorbike, hexacopter and handheld data中获得，和 lidar, IMU, motion capture and GPS 融合以提供 ground truth pose and depth images. 也提供双目的基于帧的相机数据，以便和传统方法比较。

https://daniilidis-group.github.io/mvsec/ 

The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception. IEEE Robotics and Automation Letters, 3(3), 2032-2039. 

MIT Stata Center Data Set

IMU+GRB+DEPTH

https://projects.csail.mit.edu/stat/index.php

 

后续会持续更新