LiDAR SLAM Datasets

KITTI Autonomous Driving

• Website: https://www.cvlibs.net/datasets/kitti/eval_odometry.php

• Karlsruhe Institute of Technology (KIT), German, 2012

• Provides a variety of modalities (vision, LiDAR, IMU, RTK, etc.) and application domains (odometry, stereo, depth estimation, semantics, object detection, etc.)

• The ground truth in sequence 08 is not accurate at the beginning.

• For odometry, the accuracy is evaluated by taking a sliding window of size 100, 200, ..., 800 frames, respectively, and computing the transformation difference between the first pose and the last pose in this window, and comparing it with the corresponding ground truth difference. The step size for the sliding window can be a fixed number such as 10 frames. The result is averaged over the entire trajectories and also different sliding window sizes.

NCLT Dataset

• Website: http://robots.engin.umich.edu/nclt/

• The University of Michigan North Campus Long-Term Vision and LIDAR Dataset, 2016

• Mounted on a segway wheeled mobile robot.

• Modalities: Camera, LiDAR, IMU, RTK GPS, Wheel Odometry

Newer College Dataset (NCD)

• Website: https://ori-drs.github.io/newer-college-dataset/

• Sensors mounted on a handheld device.

• Modalities: Ouster LiDAR and Realsense camera.

The Oxford RobotCar Dataset

• Website: https://robotcar-dataset.robots.ox.ac.uk/

• Oxford, 2014-2015

• Modalities: images, LiDAR, GPS

The Oxford Radar RobotCar Dataset

• Website: https://oxford-robotics-institute.github.io/radar-robotcar-dataset/

• 280 km of driving around Oxford, UK

• Modalities: Navtech CTS350-X Millimetre-Wave FMCW radar, dual Velodyne HDL-32E LIDARs

MulRan Dataset for Urban Place Recognition

• Website: https://sites.google.com/view/mulran-pr/dataset

The Complex Urban Dataset

• Website: https://sites.google.com/view/complex-urban-dataset

The HILTI SLAM Challenge Dataset 2022

• Website: https://hilti-challenge.com/dataset-2022.html

The voxgraph Drone Dataset

• Website: https://github.com/ethz-asl/voxgraph