libing64 / awesome-robotics-datasets

A collection of useful datasets for robotics and computer vision

• TOC {:toc}

Dataset Collections

• Robotics
  • Radish: The Robotics Data Set Repository, Andrew Howard and Nicholas Roy
  • Repository of Robotics and Computer Vision Datasets, MRPT
  • IJRR Data Papers, IJRR
• Computer Vision
  • CVonline Image Databases, CVonline
  • Computer Vision Datasets on the Web, CVPapers
  • YACVID: Yet Another Computer Vision Index To Datasets, Hayko Riemenschneider
  • Computer Vision Online Datasets, Computer Vision Online
• Others
  • Machine Learning Repository, UCI

Place-specific Datasets

Driving Datasets

• KITTI Vision Benchmark Suite
• Waymo Open Dataset, Waymo
• AppoloScape Dataset
• Berkely DeepDrive Dataset (BDD100K), BAIR
• nuScenes Dataset, APTIV
• $D^2$-City Dataset, DiDi
• Cityscape Dataset
• Ford Campus Vision and Lidar Data Set, PeRL at Univ. of Michigan
• MIT DARPA Urban Challenge Dataset, MIT
• KAIST Multi-spectral Recognition Dataset in Day and Night, RCV Lab at KAIST
• KAIST Urban Dataset, IRAP Lab at KAIST
• New College Dataset, MRG at Oxford Univ.
• Chinese Driving from a Bike View (CDBV), CAS
• CULane Dataset, CUHK
• ROMA (ROad MArkings) Image Database, Jean-Philippe Tarel et. al.

Flying Datasets

• The Zurich Urban Micro Aerial Vehicle Dataset, RPG at ETHZ
• The UZH-FPV Drone Racing Dataset, RPG at ETHZ
• MultiDrone Public Dataset, MultiDrone Project
• The Blackbird Dataset, AgileDrones Group at MIT

Underwater Datasets

• Marine Robotics Datasets, ACFR

Outdoor Datasets

• The Rawseeds Project
  • Note: Bovisa dataset is for outdoor and Bicocca dataset is for indoor.
• Planetary Mapping and Navigation Datasets, ASRL at Univ. of Toronto

Indoor Datasets

• Robotics 2D-Laser Datasets, Cyrill Stachniss
• Long-Term Mobile Robot Operations, Lincoln Univ.
• MIT Stata Center Data Set, Marine Robotics Group at MIT
• KTH and COLD Database, Andrzej Pronobis
• Shopping Mall Datasets, IRC at ATR

Topic-specific Datasets for Robotics

Localization, Mapping, and SLAM

• SLAM Benchmarking, AIS at Univ. of Freiburg
• Robotic 3D Scan Repository, Univ. of Wurzburg and Univ. of Osnabruck
• 3D Pose Graph Optimization, Luca Carlone
• Landmark-based Localization
  • Range-only Data for Localization, CMU RI
  • Roh's Angulation Dataset, HyunChul Roh
  • Wireless Sensor Network Dataset, Kamin Whitehouse

Path Planning and Navigation

• Pathfinding Benchmarks, Moving AI Lab at Univ. of Denver
• Task and Motion Planner Benchmarking, RSS 2018 Workshop

Topic-specific Datasets for Computer Vision

Features, Saliency, and Foreground

• Saliency
  • MIT Saliency Benchmark, MIT
  • Salient Object Detection: A Benchmark, Ming-Ming Cheng
• Foreground/Change Detection (Background Subtraction)
  • ChangeDetection.NET (a.k.a. CDNET)

3D Vision

• Photo Tourism Data, UW and Microsoft
• AdelaideRMF: Robust Model Fitting Data Set, Hoi Sim Wong
• RGB-D Dataset 7-Scenes, Microsoft
• 3D Data Processing
  • Large Geometric Models Archive, GATECH
  • The Stanford 3D Scanning Repository, Stanford Univ.

Object Tracking

• Visual Object Tracking Challenge (a.k.a. VOT)
• Visual Tracker Benchmark (a.k.a. OTB)

Object and Event Recognition

• Pedestrians
  • Daimler Pedestrian Benchmark Data Sets
  • CrowdHuman
• 3D Objects
  • RGB-D Object Dataset, UW
  • Sweet Pepper and Peduncle 3D Datasets, InKyu Sa
• Places
  • Loop Closure Detection, David Filliat et. al.
• Traffic and Surveillance
  • BEST: Benchmark and Evaluation of Surveillance Task, SJTU
  • VIRAT Video Dataset

Research Groups

• Robotics
  • QUT CyPhy Datasets
    • Tags: visual SLAM, LiDAR SLAM
• Computer Vision
  • TUM CVG Datasets
    • Tags: visual(-inertia) odometry, visual SLAM, 3D reconstruction
  • Oxford VGG Datasets
    • Tags: visual features, visual recognition, 3D reconstruction
  • EPFL CVLAB Datasets
    • Tags: 3D reconstruction, local keypoint, optical flow, RGB-D pedestrian
  • The Middlebury Computer Vision Pages
    • Tags: stereo matching, 3D reconstruction, MRF, optical flow, color
  • Caltech CVG Datasets
    • Tags: objects (pedestrian, car, face), 3D reconstruction (on turntables)