mint-lab / 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 (Not working)
  • Repository of Robotics and Computer Vision Datasets, MRPT
    • 📝 It includes Malaga datasets and some of classic datasets published in Radish.
  • IJRR Data Papers, IJRR
  • Awesome SLAM Datasets, Younggun Cho 👍
• 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
  • Kaggle Datasets, Kaggle
  • IEEE DataPort, IEEE

Place-specific Datasets

Driving Datasets

• KITTI Vision Benchmark Suite and KITTI-360, Andreas Geiger et al. 👍
  • SemanticKITTI, Jens Behley et al.
• Waymo Open Dataset, Waymo
• Cityscapes Dataset
• AppoloScape Dataset
• Berkely DeepDrive Dataset (BDD100K), BAIR at UC Berkely
• nuScenes Dataset, APTIV
• $D^2$-City Dataset, DiDi
• 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 Complex 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
  • 📝 It includes 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
  • 📝 It includes some of classic datasets published in Radish.
• 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
• RGB-D Dataset 7-Scenes, Microsoft

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

• Affine Covariant Features Datasets, VGG at Oxford
  • Repeatability Benchmark Tutorial, VLFeat
• A list of feature performance evaluation datasets, maintained by openMVG

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)

Motion and Pose Estimation

• AdelaideRMF: Robust Model Fitting Data Set, Hoi Sim Wong

Structure-from-Motion and 3D Reconstruction

• Objects
  • IVL-SYNTHESFM v2, Davide Marelli et al.
  • Fuji-SfM Dataset, Jordi Gene-Mola et al.
  • Large Geometric Models Archive, Georgia Tech
  • The Stanford 3D Scanning Repository, Stanford Univ.
• Places
  • Photo Tourism Data, UW and Microsoft

Object Tracking

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

Object, Place, and Event Recognition

• Pedestrians
  • EuroCity Persons Dataset (a.k.a. ECP)
  • Daimler Pedestrian Benchmark Data Sets
  • CrowdHuman
• 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

• TUM CVG Datasets
  • Tags: Visual(-inertia) odometry, visual SLAM, 3D reconstruction
• Oxford VGG Datasets
  • Tags: Visual features, visual recognition, 3D reconstruction
• QUT CyPhy Datasets
  • Tags: Visual SLAM, LiDAR SLAM
• Univ. of Bonn Univ. Stachniss Lab Datasets
  • Tags: SLAM
• 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)