Dataset Explorer

Select 2 to 6 datasets to compare.

Selected robotics datasets compared by overview and sensor summary metrics.
Metric	Blackbird	Boreas	CRUW ROD2021 Camera-Radar Dataset	EuRoC	Fengtai Wanda Plaza Indoor Localization	FGI Masala Stereo-Visual-Inertial Dataset 2021	In-flight Energy Use	INSANE	KAIST Complex Urban Dataset	KITTI	M2UD	MADMAX	Malaga Urban	NAVER Labs	NCLT	Newer College	NTU VIRAL	nuScenes	Oxford RobotCar	PennCOSYVIO	Rawseeds	RGBD-SLAM	Rosario	rounD Dataset	SemanticKITTI	TIERS UWB Drone Dataset	TUM VI	TUM-LSI	UPenn Fast Flight	UZH-FPV	Visual-Inertial Canoe Dataset	Visual-Inertial-Dynamical Multirotor Dataset	Zurich Urban MAV
Overview
Dataset	Blackbird	Boreas	CRUW ROD2021 Camera-Radar Dataset	EuRoC	Fengtai Wanda Plaza Indoor Localization	FGI Masala Stereo-Visual-Inertial Dataset 2021	In-flight Energy Use	INSANE	KAIST Complex Urban Dataset	KITTI	M2UD	MADMAX	Malaga Urban	NAVER Labs	NCLT	Newer College	NTU VIRAL	nuScenes	Oxford RobotCar	PennCOSYVIO	Rawseeds	RGBD-SLAM	Rosario	rounD Dataset	SemanticKITTI	TIERS UWB Drone Dataset	TUM VI	TUM-LSI	UPenn Fast Flight	UZH-FPV	Visual-Inertial Canoe Dataset	Visual-Inertial-Dynamical Multirotor Dataset	Zurich Urban MAV
Platform	UAV	Automotive	Automotive	UAV	UGV	UAV	UAV	UAV	Automotive	Automotive	UGV, Handheld	Handheld	Automotive	UGV	UGV	Handheld	UAV	Automotive	Automotive	Handheld	UGV	UGV, Handheld	UGV	Automotive	Automotive	UAV	Handheld	UGV	UAV	UAV	Marine surface	UAV	UAV
Environment	Indoor	Outdoor	Outdoor	Indoor	Indoor	Outdoor	Outdoor	Indoor, Outdoor	Indoor, Outdoor	Outdoor	Indoor, Outdoor	Outdoor	Outdoor	Indoor	Indoor, Outdoor	Outdoor	Indoor, Outdoor	Outdoor	Outdoor	Indoor, Outdoor	Indoor, Outdoor	Indoor	Outdoor	Outdoor	Outdoor	Indoor	Indoor, Outdoor	Indoor	Outdoor	Indoor, Outdoor	Outdoor	Indoor, Outdoor	Outdoor
Data origin	Simulation	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world	Real-world
Ground truth
References	6DoF platform pose Motion capture · 360 Hz OptiTrack · 24 cameras Unknown External reference Accuracy details Notes Most flights report at most 1.5 mm mean tracking error and 1 degree ground-plane alignment error; exact recalibration is not guaranteed.	6DoF platform pose GNSS / INS · 200 Hz Applanix POSPac with RTX corrections Partial · Public Training-Sequence Reference Poses; Test Reference Poses Are Withheld. Hybrid reference Accuracy details Notes POSPac estimated residual RMS: typically below 5 cm in nominal conditions, but up to 20-40 cm in urban canyons; satellite dependent. Table 2 nominal device specification is 2-4 cm RMS. These are not uniform independent reference-accuracy bounds.	2D other Other · Rate not reported Camera-radar fusion annotator with human labeling Partial · Training Set Hybrid reference	3D position Total station · 20 Hz Leica Nova MS50 · 1 total station Partial · Machine Hall Sequences External reference Accuracy details Notes Reported as millimeter-accurate under suitable tracking conditions. 6DoF platform pose Motion capture · 100 Hz Vicon Partial · Vicon Room Sequences External reference	6DoF camera pose LiDAR SLAM · Rate not reported NavVis M6 trajectory constrained by surveyed total-station anchor points · 1 total station Full Hybrid reference Accuracy details Position 0.02 m Notes The paper reports query-image positional measurement error below 20 mm.	6DoF camera pose Photogrammetry · Rate not reported Agisoft Metashape bundle adjustment with surveyed ground-control points Full Hybrid reference	6DoF platform pose GNSS / INS · 10 Hz Unknown Hybrid reference Accuracy details Orientation 2° Notes Manufacturer specifications report ±2 m horizontal position, ±5 m vertical position, ±0.1 m/s velocity, and ±2 degrees roll, pitch, and heading.	Other platform pose GNSS / INS · Rate not reported Unknown Hybrid reference 6DoF platform pose Motion capture · 300 Hz OptiTrack · 37 cameras Partial · Motion Capture Volume External reference 6DoF platform pose Surveyed markers · 20 Hz Transition ground-truth marker network · 125 markers Partial · Transition Area Hybrid reference	Not available	6DoF platform pose GNSS / INS · 100 Hz Unknown Unknown reference	3D position RTK GNSS · Rate not reported Partial · Outdoor Sequences With Usable RTK. Hybrid reference Accuracy details Notes Receiver ±(8 mm+1 ppm) horizontal/±(15 mm+1 ppm) vertical is not achieved smoothed-trajectory accuracy. Other platform pose Other · Rate not reported Partial · Indoor Sequences. Derived reference Accuracy details Notes Endpoint closure 0.031 m after 130 m and 0.1 m after 601 m; not complete absolute trajectory validation. Other platform pose Other · Rate not reported Partial · Indoor/Outdoor Mixed Sequences; RTK Factors When Available. Hybrid reference Other other Other · Rate not reported Reference laser scanner Partial · Park and Dormitory Mapping Reference Scenes. Hybrid reference Accuracy details Notes ±1 mm ranging and 3.5 mm 3D accuracy at 25 m are scanner specifications, not final registered-map accuracy.	Other platform pose RTK GNSS · 1 Hz Unknown External reference Accuracy details Notes Fixed RTK solutions report approximately 2 cm horizontal and 5 cm vertical standard deviation; roll and yaw precision is generally below 0.5 degrees. 6DoF platform pose GNSS / INS · 100 Hz Unknown Hybrid reference Accuracy details Notes Fixed RTK solutions report approximately 2 cm horizontal and 5 cm vertical standard deviation; roll and yaw precision is generally below 0.5 degrees.	Not available	6DoF platform pose LiDAR SLAM · Rate not reported Partial · Public Splits Derived reference 6DoF camera pose Structure from motion · Rate not reported Partial · Public Splits Derived reference Accuracy details Notes Final mean reprojection errors are below 1.5 pixels for all five environments.	6DoF platform pose LiDAR SLAM · 100 Hz Full Hybrid reference Accuracy details Notes RTK GPS can exceed 10 m error near buildings and is often unavailable indoors; LiDAR constraints and odometry support the joint solution.	6DoF platform pose Other · Rate not reported Leica surveyed map with ICP Full Hybrid reference Accuracy details Notes Approximately 3 cm overall is stationary dispersion for ten seconds only; dynamic trajectory accuracy is not independently quantified.	3D position Total station · 20 Hz Leica Nova MultiStation Partial · Flight Prism Tracking Where Supplied; Intermittent Tracking Gaps, Especially in Original SBS Recordings. External reference Accuracy details Notes No source-established dynamic XYZ error bound; prism flex about 2 cm and empirical timing residual within 0.1 s must be considered.	6DoF platform pose Other · Rate not reported Full Derived reference Accuracy details Notes Main text claims localization errors ≤10 cm; supplement says no ground-truth localization data and offers only qualitative reconstruction. Not an independent accuracy guarantee. 3D position + heading object trajectory Manual annotation · 2 Hz Partial · Objects With at Least One Lidar or Radar Point at 2 Hz Keyframes. Derived reference	6DoF platform pose GNSS / INS · Rate not reported Partial · 72 Traversals Hybrid reference Accuracy details Notes The maintained release describes the post-processed RTK reference as centimetre-accurate.	6DoF platform pose Surveyed markers · Rate not reported Surveyed marker network · 170 markers Partial · Training Sequences Hybrid reference Accuracy details Notes Position accuracy is estimated better than 10 cm over most of the path and up to roughly 15 cm near sparsely tagged endpoints.	3D position RTK GNSS · 5 Hz Full External reference Accuracy details Notes Reported RTK GPS precision is 2–6 cm. 2D + heading platform pose Surveyed markers · Rate not reported Partial · Indoor Subsets External reference Accuracy details Notes Visual-marker tracking can exhibit larger pose-error peaks than laser tracking. 2D + heading platform pose Other · Rate not reported Partial · Indoor Subsets External reference	6DoF camera pose Motion capture · 100 Hz MotionAnalysis · 8 cameras Partial · Motion Capture Volume External reference Accuracy details Notes MotionAnalysis tracking provides sub-centimeter and sub-degree pose accuracy.	3D position RTK GNSS · 5 Hz Full External reference	2D + heading object trajectory Other · 25 Hz Full Derived reference Accuracy details Notes No quantitative trajectory accuracy is reported.	Other other Manual annotation · 10 Hz Partial · Public Semantic Labels for Training Sequences 00–10; Test Labels 11–21 Withheld. Derived reference Accuracy details Notes Second-pass label verification, not numerical geometric accuracy. Other other Other · Rate not reported Partial · Public Completion Targets for Training/Validation; Test Targets and Never-Observed Voxels Excluded. Derived reference Accuracy details Notes Aggregated and voxelized lidar geometry, not externally surveyed scene truth.	3D position Motion capture · Rate not reported OptiTrack Full External reference	6DoF platform pose Motion capture · 120 Hz OptiTrack · 16 cameras Partial · Room Sequences, Trajectory Start, Trajectory End External reference	6DoF camera pose LiDAR SLAM · Rate not reported Full Derived reference Accuracy details Notes The NavVis mapping trajectory reports sub-centimeter accuracy.	2D Other · 5 Hz Unknown Unknown reference	6DoF platform pose Other · Rate not reported Partial · Selected Sequences Hybrid reference	6DoF platform pose GNSS / INS · 10 Hz NovAtel SPAN · 1 navigation system Full Hybrid reference Accuracy details Notes The device specification is 1.2 m RMS horizontal accuracy, but recorded horizontal-position standard deviation is typically 1.5-5.0 m and exceeds 50 m during the subset-6 failure.	6DoF platform pose Motion capture · 100 Hz VICON Vantage and Nexus Partial · Indoor Loadless, Indoor Loaded, Indoor Rope Pulled External reference 6DoF platform pose RTK GNSS · 5 Hz HITARGET Sky2 with Qianxun FindCM · 1 receiver Partial · Outdoor, Night External reference Accuracy details Position 0.01 m Orientation 0.4° Notes The paper describes both figures as precision up to these values. Other force / torque Other · 100 Hz Robotiq FT300 six-axis force/moment sensor · 1 force sensor Partial · Indoor Rope Pulled, Motor Test External reference	3D position camera pose Photogrammetry · 1 Hz Unknown Hybrid reference
Sensors
Sensor summary	3 Cameras, 1 IMU	1 Camera, 1 IMU, 1 LiDAR	1 Camera	2 Cameras, 1 IMU	5 Cameras	2 Cameras, 1 IMU, 1 GNSS	1 IMU, 1 GNSS	3 Cameras, 3 IMUs, 3 GNSS, 1 LiDAR, 2 Magnetometers, 1 Barometer, 3 UWB	2 Cameras, 1 IMU, 2 GNSS, 4 LiDARs, 1 Barometer	4 Cameras, 1 IMU, 1 GNSS, 1 LiDAR	2 Cameras, 1 IMU, 1 GNSS, 1 LiDAR, 1 Magnetometer	5 Cameras, 1 IMU, 1 GNSS	2 Cameras, 1 IMU, 1 GNSS, 5 LiDARs	10 Cameras, 2 LiDARs	6 Cameras, 2 IMUs, 2 GNSS, 3 LiDARs, 1 Magnetometer	2 Cameras, 2 IMUs, 1 LiDAR	2 Cameras, 3 IMUs, 2 LiDARs, 1 Magnetometer, 3 UWB	6 Cameras, 1 IMU, 1 LiDAR	6 Cameras, 1 IMU, 1 GNSS, 3 LiDARs	7 Cameras, 3 IMUs	5 Cameras, 1 IMU, 1 GNSS, 4 LiDARs	2 Cameras	2 Cameras, 1 IMU, 1 GNSS	Not reported	1 LiDAR	1 LiDAR, 10 UWB	2 Cameras, 1 IMU	6 Cameras	2 Cameras, 1 IMU, 1 GNSS	4 Cameras, 2 IMUs	2 Cameras, 1 IMU, 1 GNSS	2 Cameras, 1 IMU, 2 GNSS	1 Camera, 1 IMU, 1 GNSS, 1 Barometer
Camera
Effective camera count	3 Cameras	1 Camera	1 Camera	2 Cameras	5 Cameras	2 Cameras	Not available	3 Cameras	2 Cameras	4 Cameras	2 Cameras	5 Cameras	2 Cameras	10 Cameras	6 Cameras	2 Cameras	2 Cameras	6 Cameras	6 Cameras	7 Cameras	5 Cameras	2 Cameras	2 Cameras	Not available	Not available	Not available	2 Cameras	6 Cameras	2 Cameras	4 Cameras	2 Cameras	2 Cameras	1 Camera
Camera setups	Stereo, Mono	Mono	Mono	Stereo	Rgbd, Mono	Stereo	Not available	Mono, Stereo	Stereo	Stereo	Rgbd	Stereo, Mono	Stereo	Mono	Omnidirectional	Stereo	Stereo	Mono	Mono, Trinocular	Mono, Stereo	Mono, Omnidirectional, Trinocular	Rgbd	Stereo	Not available	Not available	Not available	Stereo	Mono	Stereo	Stereo, Mono	Stereo	Stereo	Mono
Camera modalities	Grayscale	Rgb	Rgb	Grayscale	Rgbd, Rgb	Grayscale	Not available	Grayscale	Rgb	Rgb, Grayscale	Rgbd	Grayscale, Rgb	Rgb	Rgb	Rgb	Nir	Grayscale	Rgb	Rgb	Rgb, Grayscale	Rgb, Grayscale	Rgbd	Rgb	Not available	Not available	Not available	Grayscale	Rgb	Grayscale	Grayscale, Event, Rgb	Rgb	Grayscale	Rgb
Best camera rate	120 Hz	10 Hz	30 Hz	20 Hz	Not reported	16 Hz	Not available	30 Hz	10 Hz	10 Hz	10 Hz	14 Hz	20 Hz	2.5 Hz	5 Hz	30 Hz	10 Hz	12 Hz	16 Hz	30 Hz	30 Hz	30 Hz	15 Hz	Not available	Not available	Not available	20 Hz	Not reported	40 Hz	30 Hz	20 Hz	60 Hz	30 Hz
Widest camera width	1024 px	2448 px	Not reported	768 px	8192 px	2448 px	Not available	2056 px	1280 px	1392 px	720 px	2064 px	1024 px	2592 px	1600 px	848 px	752 px	1600 px	1280 px	1920 px	640 px	640 px	672 px	Not available	Not available	Not available	1024 px	4592 px	960 px	640 px	800 px	640 px	1920 px
Shutter types	Not reported	Not reported	Not reported	Global	Not reported	Global	Not available	Global	Global	Global	Global	Not reported	Not reported	Global, Rolling	Global	Global	Global	Not reported	Global	Rolling, Global	Not reported	Rolling	Rolling	Not available	Not available	Not available	Global	Not reported	Global	Global	Not reported	Not reported	Rolling
Camera IDs	forward-stereo; downward-facing	Camera 1	RGB camera	stereo-gray	NavVis M6 panoramic camera system; Smartphone query cameras	Camera 1	Not available	mono-gray; stereo-gray	Forward-facing stereo camera	stereo-rgb; stereo-gray	Camera 1	navigation-stereo; color-camera; omnidirectional-stereo	stereo-rgb	basler-camera-ring; galaxy-query-cameras	omni-rgb	Camera 1	Camera 1	Camera 1	grasshopper2-surround; bumblebee-xb3-trinocular	gopro-ground-truth-cameras; tango-bottom-rgb; tango-top-fisheye; vi-sensor-stereo	mono-rgb; omnidirectional-rgb; trinocular-gray	rgb-d	stereo-rgb	Not available	Not available	Not available	stereo-gray	navvis-camera-array	forward-stereo	snapdragon-stereo; mdavis-event; pilot-fpv-camera	Canoe-mounted stereo camera	Camera 1	mono-rgb
Camera entry counts	1; 1	1	1	1	1; 3	1	Not available	1; 1	1	1; 1	1	1; 1; 1	1	6; 4	6	1	1	6	3; 1	3; 1; 1; 1	1; 1; 1	1	1	Not available	Not available	Not available	1	6	1	1; 1; 1	1	1	1
Effective counts by entry	2; 1	1	1	2	2; 3	2	Not available	1; 2	2	2; 2	2	2; 1; 2	2	6; 4	6	2	2	6	3; 3	3; 1; 1; 2	1; 1; 3	2	2	Not available	Not available	Not available	2	6	2	2; 1; 1	2	2	1
Setups by entry	Stereo; Mono	Mono	Mono	Stereo	Rgbd; Mono	Stereo	Not available	Mono; Stereo	Stereo	Stereo; Stereo	Rgbd	Stereo; Mono; Stereo	Stereo	Mono; Mono	Omnidirectional	Stereo	Stereo	Mono	Mono; Trinocular	Mono; Mono; Mono; Stereo	Mono; Omnidirectional; Trinocular	Rgbd	Stereo	Not available	Not available	Not available	Stereo	Mono	Stereo	Stereo; Mono; Mono	Stereo	Stereo	Mono
Modalities by entry	Grayscale; Grayscale	Rgb	Rgb	Grayscale	Rgbd; Rgb	Grayscale	Not available	Grayscale; Grayscale	Rgb	Rgb; Grayscale	Rgbd	Grayscale; Rgb; Grayscale	Rgb	Rgb; Rgb	Rgb	Nir	Grayscale	Rgb	Rgb; Rgb	Rgb; Rgb; Grayscale; Grayscale	Rgb; Rgb; Grayscale	Rgbd	Rgb	Not available	Not available	Not available	Grayscale	Rgb	Grayscale	Grayscale; Event; Rgb	Rgb	Grayscale	Rgb
Rates by entry	120 Hz; 120 Hz	10 Hz	30 Hz	20 Hz	Not reported; Not reported	16 Hz	Not available	20 Hz; 30 Hz	10 Hz	10 Hz; 10 Hz	10 Hz	14 Hz; 4 Hz; 4-8 Hz	20 Hz	2.5 Hz; 1 Hz	5 Hz	30 Hz	10 Hz	12 Hz	11.1 Hz; 16 Hz	30 Hz; 30 Hz; 30 Hz; 20 Hz	30 Hz; 15 Hz; 15 Hz	30 Hz	15 Hz	Not available	Not available	Not available	20 Hz	Not reported	40 Hz	30 Hz; Not reported; Not reported	20 Hz	60 Hz	30 Hz
Resolution widths by entry	1024 px; 1024 px	2448 px	Not reported	768 px	8192 px; Not reported	2448 px	Not available	2056 px; 848 px	1280 px	1392 px; 1392 px	720 px	1032 px; 2064 px; 2064 px	1024 px	2592 px; 2160 px	1600 px	848 px	752 px	1600 px	1024 px; 1280 px	1920 px; 1920 px; 640 px; 752 px	640 px; 640 px; 640 px	640 px	672 px	Not available	Not available	Not available	1024 px	4592 px	960 px	640 px; 346 px; Not reported	800 px	640 px	1920 px
Resolution heights by entry	768 px; 768 px	2048 px	Not reported	480 px	4096 px; Not reported	2048 px	Not available	1542 px; 800 px	560 px	512 px; 512 px	480 px	772 px; 1544 px; 1544 px	768 px	2048 px; 2880 px	1200 px	480 px	480 px	900 px	1024 px; 960 px	1080 px; 1080 px; 480 px; 480 px	480 px; 640 px; 480 px	480 px	376 px	Not available	Not available	Not available	1024 px	3448 px	800 px	480 px; 260 px; Not reported	600 px	480 px	1080 px
Shutters by entry	Not reported; Not reported	Not reported	Not reported	Global	Not reported; Not reported	Global	Not available	Global; Global	Global	Global; Global	Global	Not reported; Not reported; Not reported	Not reported	Global; Rolling	Global	Global	Global	Not reported	Global; Global	Rolling; Rolling; Global; Global	Not reported; Not reported; Not reported	Rolling	Rolling	Not available	Not available	Not available	Global	Not reported	Global	Global; Not reported; Not reported	Not reported	Not reported	Rolling
Lens types by entry	Not reported; Not reported	Not reported	Not reported	Not reported	Not reported; Not reported	Not reported	Not available	Not reported; Not reported	Not reported	Not reported; Not reported	Not reported	Standard; Standard; Omnidirectional	Not reported	Not reported; Not reported	Not reported	Not reported	Not reported	Not reported	Fisheye; Not reported	Not reported; Not reported; Fisheye; Not reported	Not reported; Not reported; Not reported	Not reported	Not reported	Not available	Not available	Not available	Fisheye	Wide Angle	Not reported	Fisheye; Wide Angle; Not reported	Not reported	Not reported	Not reported
HFOV by entry	Not reported; Not reported	81 deg	Not reported	Not reported	360 deg; Not reported	Not reported	Not available	101 deg; Not reported	Not reported	Not reported; Not reported	Not reported	61 deg; 61 deg; 360 deg	Not reported	79.4 deg; Not reported	Not reported	Not reported	Not reported	Not reported	180 deg; 66 deg	118.2 deg; 52 deg; 132 deg; 80 deg	Not reported; Not reported; Not reported	Not reported	Not reported	Not available	Not available	Not available	Not reported	Not reported	Not reported	Not reported; Not reported; Not reported	Not reported	Not reported	Not reported
VFOV by entry	60 deg; 60 deg	71 deg	Not reported	Not reported	Not reported; Not reported	Not reported	Not available	Not reported; Not reported	Not reported	Not reported; Not reported	Not reported	Not reported; Not reported; 280 deg	Not reported	63 deg; Not reported	Not reported	Not reported	Not reported	Not reported	Not reported; Not reported	69.5 deg; 31 deg; 100 deg; 57 deg	Not reported; Not reported; Not reported	Not reported	Not reported	Not available	Not available	Not available	Not reported	Not reported	Not reported	Not reported; Not reported; Not reported	Not reported	Not reported	Not reported
IMU
IMU count	1 IMU	1 IMU	Not available	1 IMU	Not available	1 IMU	1 IMU	3 IMUs	1 IMU	1 IMU	1 IMU	1 IMU	1 IMU	Not available	2 IMUs	2 IMUs	3 IMUs	1 IMU	1 IMU	3 IMUs	1 IMU	Not available	1 IMU	Not available	Not available	Not available	1 IMU	Not available	1 IMU	2 IMUs	1 IMU	1 IMU	1 IMU
Best IMU rate	100 Hz	200 Hz	Not available	200 Hz	Not available	100 Hz	Not reported	900 Hz	200 Hz	10 Hz	200 Hz	100 Hz	100 Hz	Not available	100 Hz	400 Hz	385 Hz	100 Hz	50 Hz	200 Hz	128 Hz	Not available	140 Hz	Not available	Not available	Not available	200 Hz	Not available	200 Hz	1000 Hz	200 Hz	400 Hz	10 Hz
IMU models	Xsens MTi-3	IMU 1	Not available	ADIS16448	Not available	Xsens MTi-680G RTK GNSS/INS	LORD MicroStrain 3DM-GX5-45 GNSS/INS	ICM20689; BMI055; LSM9DS1	Xsens MTi-300	OXTS RT3003	Xsens MTi 300	Xsens MTi-10	Xsens MTi	Not available	Microstrain 3DM-GX3-45; KVH DSP-3000	ICM-20948; Bosch BMI055	VectorNav VN100; IMU 2	IMU 1	NovAtel SPAN-CPT ALIGN	Google Project Tango Yellowstone 7-inch tablet; Google Project Tango Yellowstone 7-inch tablet; ADIS16488	Xsens MTi	Not available	LSM6DS0	Not available	Not available	Not available	Bosch BMI160	Not available	VectorNav VN-100	iniVation miniDAVIS346; Qualcomm Snapdragon Flight	Analog Devices ADIS16488	IMU 1	IMU 1
IMU entry counts	1	1	Not available	1	Not available	1	1	1; 1; 1	1	1	1	1	1	Not available	1; 1	1; 1	1; 2	1	1	1; 1; 1	1	Not available	1	Not available	Not available	Not available	1	Not available	1	1; 1	1	1	1
Accelerometer rates	100 Hz	200 Hz	Not available	200 Hz	Not available	100 Hz	Not reported	200 Hz; 200 Hz; 900 Hz	200 Hz	10 Hz	200 Hz	100 Hz	100 Hz	Not available	100 Hz; Not reported	100 Hz; 250 Hz	385 Hz; 100 Hz	100 Hz	50 Hz	128 Hz; 128 Hz; 200 Hz	128 Hz	Not available	140 Hz	Not available	Not available	Not available	200 Hz	Not available	200 Hz	1000 Hz; 500 Hz	200 Hz	400 Hz	10 Hz
Gyroscope rates	100 Hz	200 Hz	Not available	200 Hz	Not available	100 Hz	Not reported	200 Hz; 200 Hz; 900 Hz	200 Hz	10 Hz	200 Hz	100 Hz	100 Hz	Not available	100 Hz; 100 Hz	100 Hz; 400 Hz	385 Hz; 100 Hz	100 Hz	50 Hz	100 Hz; 100 Hz; 200 Hz	128 Hz	Not available	140 Hz	Not available	Not available	Not available	200 Hz	Not available	200 Hz	1000 Hz; 500 Hz	200 Hz	400 Hz	10 Hz
GNSS
GNSS count	Not available	Not available	Not available	Not available	Not available	1 GNSS	1 GNSS	3 GNSS	2 GNSS	1 GNSS	1 GNSS	1 GNSS	1 GNSS	Not available	2 GNSS	Not available	Not available	Not available	1 GNSS	Not available	1 GNSS	Not available	1 GNSS	Not available	Not available	Not available	Not available	Not available	1 GNSS	Not available	1 GNSS	2 GNSS	1 GNSS
Best GNSS rate	Not available	Not available	Not available	Not available	Not available	4 Hz	10 Hz	8 Hz	10 Hz	10 Hz	5 Hz	1 Hz	1 Hz	Not available	5 Hz	Not available	Not available	Not available	5 Hz	Not available	5 Hz	Not available	5 Hz	Not available	Not available	Not available	Not available	Not available	5 Hz	Not available	10 Hz	5 Hz	Not reported
GNSS types	Not available	Not available	Not available	Not available	Not available	Unknown	GPS/IMU	RTK	Standard, RTK	RTK	RTK	RTK	Gps	Not available	Gps, RTK	Not available	Not available	Not available	Gps Glonass	Not available	RTK	Not available	RTK	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	GPS/IMU	Standard, RTK	Gps
Position output	Not available	Not available	Not available	Not available	Not available	Available	Available	Available	Available	Available	Available	Available	Available	Not available	Available	Not available	Not available	Not available	Available	Not available	Available	Not available	Available	Not available	Not available	Not available	Not available	Not available	Available	Not available	Available	Available	Available
Velocity output	Not available	Not available	Not available	Not available	Not available	Not reported	Available	Available	Available	Available	Not reported	Available	Not available	Not available	Available	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	Available	Not available	Not available	Not available	Not available	Not available	Available	Not available	Available	Not reported	Not available
Heading output	Not available	Not available	Not available	Not available	Not available	Not reported	Available	Not reported	Available	Not reported	Not reported	Not reported	Not reported	Not available	Not reported	Not available	Not available	Not available	Not reported	Not available	Not reported	Not available	Not reported	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	Available	Available	Not reported
GNSS models/names	Not available	Not available	Not available	Not available	Not available	Xsens MTi-680G RTK GNSS/INS	LORD MicroStrain 3DM-GX5-45	UBLOX C94-M8P; Pixhawk GNSS	U-Blox EVK-7P; SOKKIA GRX 2	OXTS RT3003	M68UGI-G	Piksi Multi GNSS SwiftNav	Consumer GPS receiver	Not available	Garmin 18x; NovAtel DL-4 Plus	Not available	Not available	Not available	NovAtel SPAN-CPT ALIGN	Not available	RTK GPS	Not available	Reach	Not available	Not available	Not available	Not available	Not available	GPS receiver	Not available	NovAtel SPAN-IGM-A1	DJI N3; HITARGET Sky2	Onboard GPS receiver
GNSS counts by entry	Not available	Not available	Not available	Not available	Not available	1	1	2; 1	1; 1	1	1	1	1	Not available	1; 1	Not available	Not available	Not available	1	Not available	1	Not available	1	Not available	Not available	Not available	Not available	Not available	1	Not available	1	1; 1	1
GNSS rates by entry	Not available	Not available	Not available	Not available	Not available	4 Hz	10 Hz	8 Hz; 5 Hz	10 Hz; 1 Hz	10 Hz	5 Hz	1 Hz	1 Hz	Not available	5 Hz; 1 Hz	Not available	Not available	Not available	5 Hz	Not available	5 Hz	Not available	5 Hz	Not available	Not available	Not available	Not available	Not available	5 Hz	Not available	10 Hz	Not reported; 5 Hz	Not reported
GNSS types by entry	Not available	Not available	Not available	Not available	Not available	Unknown	GPS/IMU	RTK; Not reported	Standard; RTK	RTK	RTK	RTK	Gps	Not available	Gps; RTK	Not available	Not available	Not available	Gps Glonass	Not available	RTK	Not available	RTK	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	GPS/IMU	Standard; RTK	Gps
GNSS outputs by entry	Not available	Not available	Not available	Not available	Not available	Position	Position, Velocity, Heading	Position, Velocity; Position, Velocity	Position; Position, Velocity, Heading	Position, Velocity	Position	Position, Velocity	Position, Velocity unavailable	Not available	Position, Velocity; Position, Velocity	Not available	Not available	Not available	Position, Velocity unavailable	Not available	Position	Not available	Position, Velocity	Not available	Not available	Not available	Not available	Not available	Position, Velocity	Not available	Position, Velocity, Heading	Position; Position, Heading	Position, Velocity unavailable
LiDAR
LiDAR count	Not available	1 LiDAR	Not available	Not available	Not available	Not available	Not available	1 LiDAR	4 LiDARs	1 LiDAR	1 LiDAR	Not available	5 LiDARs	2 LiDARs	3 LiDARs	1 LiDAR	2 LiDARs	1 LiDAR	3 LiDARs	Not available	4 LiDARs	Not available	Not available	Not available	1 LiDAR	1 LiDAR	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR dimensionality	Not available	3	Not available	Not available	Not available	Not available	Not available	1	3, 2	3	3	Not available	2	3	2, 3	3	3	3	2, 3	Not available	2	Not available	Not available	Not available	3	1	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Best LiDAR rate	Not available	10 Hz	Not available	Not available	Not available	Not available	Not available	30 Hz	100 Hz	10 Hz	10 Hz	Not available	75 Hz	10 Hz	40 Hz	10 Hz	10 Hz	20 Hz	50 Hz	Not available	75 Hz	Not available	Not available	Not available	10 Hz	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Highest scan channels	Not available	128	Not available	Not available	Not available	Not available	Not available	1	16	64	Not reported	Not available	Not reported	16	32	64	16	32	4	Not available	Not reported	Not available	Not available	Not available	Not reported	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Longest LiDAR range	Not available	300 m	Not available	Not available	Not available	Not available	Not available	40 m	Not reported	120 m	Not reported	Not available	80 m	Not reported	100 m	120 m	Not reported	70 m	50 m	Not available	Not reported	Not available	Not available	Not available	Not reported	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR models/names	Not available	Velodyne Alpha-Prime	Not available	Not available	Not available	Not available	Not available	Garmin Lidar Lite v3	Velodyne VLP-16; SICK LMS-511	Velodyne HDL-64E	Velodyne VLP-16	Not available	Hokuyo UTM-30LX; SICK LMS-200	Velodyne VLP-16	Hokuyo UTM-30LX; Hokuyo URG-04LX; Velodyne HDL-32E	Ouster OS1-64	Ouster OS1-16 Gen1	LiDAR 1	SICK LMS-151; SICK LD-MRS	Not available	Hokuyo URG-04LX; SICK LMS291; SICK LMS200	Not available	Not available	Not available	Velodyne HDL-64E	Benewake TF Mini	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR counts by entry	Not available	1	Not available	Not available	Not available	Not available	Not available	1	2; 2	1	1	Not available	3; 2	2	1; 1; 1	1	2	1	2; 1	Not available	2; 1; 1	Not available	Not available	Not available	1	1	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR dimensionality by entry	Not available	3	Not available	Not available	Not available	Not available	Not available	1	3; 2	3	3	Not available	2; 2	3	2; 2; 3	3	3	3	2; 3	Not available	2; 2; 2	Not available	Not available	Not available	3	1	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR rates by entry	Not available	10 Hz	Not available	Not available	Not available	Not available	Not available	30 Hz	10 Hz; 100 Hz	10 Hz	10 Hz	Not available	40 Hz; 75 Hz	10 Hz	40 Hz; 10 Hz; 10 Hz	10 Hz	10 Hz	20 Hz	50 Hz; 12.5 Hz	Not available	10 Hz; 75 Hz; 75 Hz	Not available	Not available	Not available	10 Hz	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Scan channels by entry	Not available	128	Not available	Not available	Not available	Not available	Not available	1	16; Not reported	64	Not reported	Not available	Not reported; Not reported	16	1; 1; 32	64	16	32	Not reported; 4	Not available	Not reported; Not reported; Not reported	Not available	Not available	Not available	Not reported	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR ranges by entry	Not available	300 m	Not available	Not available	Not available	Not available	Not available	40 m	Not reported; Not reported	120 m	Not reported	Not available	30 m; 80 m	Not reported	30 m; 4 m; 100 m	120 m	Not reported	70 m	50 m; 50 m	Not available	Not reported; Not reported; Not reported	Not available	Not available	Not available	Not reported	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Magnetometer
Magnetometer count	Not available	Not available	Not available	Not available	Not available	Not available	Not available	2 Magnetometers	Not available	Not available	1 Magnetometer	Not available	Not available	Not available	1 Magnetometer	Not available	1 Magnetometer	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Best magnetometer rate	Not available	Not available	Not available	Not available	Not available	Not available	Not available	80 Hz	Not available	Not available	100 Hz	Not available	Not available	Not available	100 Hz	Not available	385 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Magnetometer models/names	Not available	Not available	Not available	Not available	Not available	Not available	Not available	LSM9DS1; UST8310	Not available	Not available	Xsens-integrated magnetometer	Not available	Not available	Not available	Microstrain 3DM-GX3-45	Not available	VectorNav VN100	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Magnetometer counts by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	1; 1	Not available	Not available	1	Not available	Not available	Not available	1	Not available	1	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Magnetometer rates by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	20 Hz; 80 Hz	Not available	Not available	100 Hz	Not available	Not available	Not available	100 Hz	Not available	385 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Barometer
Barometer count	Not available	Not available	Not available	Not available	Not available	Not available	Not available	1 Barometer	1 Barometer	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	1 Barometer
Best barometer rate	Not available	Not available	Not available	Not available	Not available	Not available	Not available	20 Hz	10 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported
Barometer models/names	Not available	Not available	Not available	Not available	Not available	Not available	Not available	MS5611	Withrobot myPressure	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	PX4 autopilot barometer
Barometer counts by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	1	1	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	1
Barometer rates by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	20 Hz	10 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported
UWB
UWB count	Not available	Not available	Not available	Not available	Not available	Not available	Not available	3 UWB	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	3 UWB	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	10 UWB	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Best UWB rate	Not available	Not available	Not available	Not available	Not available	Not available	Not available	7 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	68.571 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	10 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available
UWB coverage	Not available	Not available	Not available	Not available	Not available	Not available	Not available	indoor, transition	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
UWB models/names	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Decawave TREK1000	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Humatics P440; Environmental ranging anchors	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Decawave DWM1001; Decawave DWM1001	Not available	Not available	Not available	Not available	Not available	Not available	Not available
UWB counts by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	3	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	2; 1	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	4; 6	Not available	Not available	Not available	Not available	Not available	Not available	Not available
UWB rates by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	7 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	68.571 Hz; 5.714 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	10 Hz; 10 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available
UWB coverage by entry	Not available	Not available	Not available	Not available	Not available	Not available	Not available	indoor, transition	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported; Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not available	Not reported; Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available

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Published robotics datasets with platform, environment, sensor, ground truth, calibration, annotation, and verification metadata.
Compare	Dataset	Platform	Environment	Data origin	Sensors	Ground TruthGT	CalibrationCalib.	AnnotationsAnnot.	Verification
Select Blackbird	Blackbird	UAV	Indoor	Simulation	3 Cameras, 1 IMU	Available	Available	Not reported	Source
Select Boreas	Boreas	Automotive	Outdoor	Real-world	1 Camera, 1 IMU, 1 LiDAR	Available	Available	Available	Curated
Select CRUW ROD2021 Camera-Radar Dataset	CRUW ROD2021 Camera-Radar Dataset	Automotive	Outdoor	Real-world	1 Camera	Available	Available	Available	Source
Select EuRoC	EuRoC	UAV	Indoor	Real-world	2 Cameras, 1 IMU	Available	Available	Not reported	Source
Select Fengtai Wanda Plaza Indoor Localization	Fengtai Wanda Plaza Indoor Localization	UGV	Indoor	Real-world	5 Cameras	Available	Not reported	Available	Source
Select FGI Masala Stereo-Visual-Inertial Dataset 2021	FGI Masala Stereo-Visual-Inertial Dataset 2021	UAV	Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS	Available	Available	Not available	Source
Select In-flight Energy Use	In-flight Energy Use	UAV	Outdoor	Real-world	1 IMU, 1 GNSS	Available	Not reported	Not reported	Source
Select INSANE	INSANE	UAV	Indoor, Outdoor	Real-world	3 Cameras, 3 IMUs, 3 GNSS, 1 LiDAR, 2 Magnetometers, 1 Barometer, 3 UWB	Available	Available	Not reported	Author
Select KAIST Complex Urban Dataset	KAIST Complex Urban Dataset	Automotive	Indoor, Outdoor	Real-world	2 Cameras, 1 IMU, 2 GNSS, 4 LiDARs, 1 Barometer	Not available	Available	Not available	Source
Select KITTI	KITTI	Automotive	Outdoor	Real-world	4 Cameras, 1 IMU, 1 GNSS, 1 LiDAR	Available	Available	Available	Source
Select M2UD	M2UD	UGV, Handheld	Indoor, Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS, 1 LiDAR, 1 Magnetometer	Available	Available	Not reported	Curated
Select MADMAX	MADMAX	Handheld	Outdoor	Real-world	5 Cameras, 1 IMU, 1 GNSS	Available	Available	Not reported	Source
Select Malaga Urban	Malaga Urban	Automotive	Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS, 5 LiDARs	Not available	Available	Not reported	Source
Select NAVER Labs	NAVER Labs	UGV	Indoor	Real-world	10 Cameras, 2 LiDARs	Available	Available	Available	Source
Select NCLT	NCLT	UGV	Indoor, Outdoor	Real-world	6 Cameras, 2 IMUs, 2 GNSS, 3 LiDARs, 1 Magnetometer	Available	Available	Not reported	Source
Select Newer College	Newer College	Handheld	Outdoor	Real-world	2 Cameras, 2 IMUs, 1 LiDAR	Available	Available	Not reported	Curated
Select NTU VIRAL	NTU VIRAL	UAV	Indoor, Outdoor	Real-world	2 Cameras, 3 IMUs, 2 LiDARs, 1 Magnetometer, 3 UWB	Available	Available	Not reported	Curated
Select nuScenes	nuScenes	Automotive	Outdoor	Real-world	6 Cameras, 1 IMU, 1 LiDAR	Available	Available	Available	Curated
Select Oxford RobotCar	Oxford RobotCar	Automotive	Outdoor	Real-world	6 Cameras, 1 IMU, 1 GNSS, 3 LiDARs	Available	Available	Not reported	Source
Select PennCOSYVIO	PennCOSYVIO	Handheld	Indoor, Outdoor	Real-world	7 Cameras, 3 IMUs	Available	Available	Not reported	Source
Select Rawseeds	Rawseeds	UGV	Indoor, Outdoor	Real-world	5 Cameras, 1 IMU, 1 GNSS, 4 LiDARs	Available	Available	Not reported	Source
Select RGBD-SLAM	RGBD-SLAM	UGV, Handheld	Indoor	Real-world	2 Cameras	Available	Available	Not reported	Source
Select Rosario	Rosario	UGV	Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS	Available	Available	Not reported	Source
Select rounD Dataset	rounD Dataset	Automotive	Outdoor	Real-world	Not reported	Available	Not reported	Available	Source
Select SemanticKITTI	SemanticKITTI	Automotive	Outdoor	Real-world	1 LiDAR	Available	Available	Available	Curated
Select TIERS UWB Drone Dataset	TIERS UWB Drone Dataset	UAV	Indoor	Real-world	1 LiDAR, 10 UWB	Available	Not reported	Not available	Source
Select TUM VI	TUM VI	Handheld	Indoor, Outdoor	Real-world	2 Cameras, 1 IMU	Available	Available	Not reported	Source
Select TUM-LSI	TUM-LSI	UGV	Indoor	Real-world	6 Cameras	Available	Not reported	Not reported	Source
Select UPenn Fast Flight	UPenn Fast Flight	UAV	Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS	Available	Available	Not reported	Source
Select UZH-FPV	UZH-FPV	UAV	Indoor, Outdoor	Real-world	4 Cameras, 2 IMUs	Available	Available	Not reported	Source
Select Visual-Inertial Canoe Dataset	Visual-Inertial Canoe Dataset	Marine surface	Outdoor	Real-world	2 Cameras, 1 IMU, 1 GNSS	Available	Available	Not available	Source
Select Visual-Inertial-Dynamical Multirotor Dataset	Visual-Inertial-Dynamical Multirotor Dataset	UAV	Indoor, Outdoor	Real-world	2 Cameras, 1 IMU, 2 GNSS	Available	Available	Not available	Source
Select Zurich Urban MAV	Zurich Urban MAV	UAV	Outdoor	Real-world	1 Camera, 1 IMU, 1 GNSS, 1 Barometer	Available	Available	Available	Source

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