📖
Wiki
Back to my personal website
  • Home
  • Equipment and Devices
    • 3D Printer
    • Laser Cutter
    • Motion Capture System
    • Sensors
      • RGB-D Cameras
      • Velodyne LiDAR
      • Zed Camera
      • RealSense D435i
      • IMU
    • eGPU
    • Nvidia AGX Xavier
    • CPU Benchmark
    • Installation Checklist
  • Development
    • Linux
      • Shell
      • GDB
      • Git
      • Tmux
      • Network
      • Tricks
      • Debug FAQ
    • CMake
      • Catkin Tools
      • CMakeLists
      • CMake Variables
      • CMake Commands
      • CMake: find_package()
    • ROS
      • Gazebo
      • wstool
      • roslaunch
      • rosbag
      • multi-threaded spinner
    • ROS2
      • Convert ROS1 bag to ROS2 bag
    • C++
      • C++ 11
      • C++ Examples
      • C++ Debug
      • Factory Method
      • Timing
    • Google Tools
      • GLog
      • GFlags
      • GTest
      • Style Guide
      • Clang Format
    • PCL
      • Point Type
      • Methods
      • Architecture
      • Code Explained
    • Open3D
      • Python API
      • Registration
      • Visualization
      • Tools
    • OpenCV
      • Documentation
      • Modules
    • Other Libraries
      • Eigen
      • Ceres
      • g2o
      • GTSAM
    • Website
  • Algorithm
    • SLAM
      • K-D Tree
      • Octree
      • Bag of Words
      • Distance Measures
      • Coordinate Systems
      • LOAM
      • Iterative Closest Point
      • Generalized ICP
      • Mahalanobis Distance
    • Computer Science
      • Computational Model
      • Sorting
      • Analysis
      • Complexity Classes (P, NP)
      • Divide and Conquer
      • Greedy Algorithm
      • Dynamic Programming
      • Tree
      • Graph
    • Computer Vision
      • Camera Models
      • Distortion
      • Motion Models
      • Shutter
      • Image Sensors
      • Epipolar Geometry
      • Multiple-View Geometry
    • Datasets
      • RGB-D Datasets
      • Point Cloud Datasets
      • LiDAR SLAM Datasets
  • Math
    • Optimization
      • Convex Optimization
      • Descent Methods
    • Probability
      • Moment
      • Covariance Matrix
      • Stochastic Process
    • Topology
      • References
      • Concepts
      • Topological Spaces
      • Representation of Rotations
      • Representation of 3-sphere
    • Algebra
      • Linear Algebra
      • Matrix Factorization
      • Condition Number
      • Matrix Lie Group
    • Differential Geometry
      • Manifold
      • Submanifold
      • Quotient Manifolds
      • Tangent Space
  • Quadrotor
    • PX4 Development
    • Companion Computer
    • Drone Hardware
    • Propeller Lock
    • Debug
  • Favorites
    • Bookmarks
Powered by GitBook
On this page
  • KITTI Autonomous Driving
  • NCLT Dataset
  • Newer College Dataset (NCD)
  • The Oxford RobotCar Dataset
  • The Oxford Radar RobotCar Dataset
  • MulRan Dataset for Urban Place Recognition
  • The Complex Urban Dataset
  • The HILTI SLAM Challenge Dataset 2022
  • The voxgraph Drone Dataset

Was this helpful?

  1. Algorithm
  2. Datasets

LiDAR SLAM Datasets

PreviousPoint Cloud DatasetsNextOptimization

Last updated 2 years ago

Was this helpful?

KITTI Autonomous Driving

  • Website:

  • 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:

  • 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:

  • Sensors mounted on a handheld device.

  • Modalities: Ouster LiDAR and Realsense camera.

The Oxford RobotCar Dataset

  • Oxford, 2014-2015

  • Modalities: images, LiDAR, GPS

The Oxford 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

The Complex Urban Dataset

The HILTI SLAM Challenge Dataset 2022

The voxgraph Drone Dataset

Website:

Website:

Website:

Website:

Website:

Website:

https://www.cvlibs.net/datasets/kitti/eval_odometry.php
http://robots.engin.umich.edu/nclt/
https://ori-drs.github.io/newer-college-dataset/
https://robotcar-dataset.robots.ox.ac.uk/
https://oxford-robotics-institute.github.io/radar-robotcar-dataset/
https://sites.google.com/view/mulran-pr/dataset
https://sites.google.com/view/complex-urban-dataset
https://hilti-challenge.com/dataset-2022.html
https://github.com/ethz-asl/voxgraph