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https://github.com/mint-lab/awesome-robotics-datasets

A collection of useful datasets for robotics and computer vision
https://github.com/mint-lab/awesome-robotics-datasets

List: awesome-robotics-datasets

computer-vision dataset robotics

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A collection of useful datasets for robotics and computer vision

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* TOC

{:toc}



## Dataset Collections

* **Robotics**

  * ~~[Radish: The Robotics Data Set Repository](http://radish.sourceforge.net/), Andrew Howard and Nicholas Roy~~ (Not working)

  * [Repository of Robotics and Computer Vision Datasets](https://www.mrpt.org/robotics_datasets), MRPT

    * :memo: It includes _Malaga datasets_ and some of classic datasets published in [Radish](http://radish.sourceforge.net/).

  * [IJRR Data Papers](http://journals.sagepub.com/topic/collections/ijr-3-datapapers/ijr), IJRR

  * [Awesome SLAM Datasets](https://github.com/youngguncho/awesome-slam-datasets), Younggun Cho :+1:

* **Computer Vision**

  * [CVonline Image Databases](http://homepages.inf.ed.ac.uk/rbf/CVonline/Imagedbase.htm), CVonline

  * [Computer Vision Datasets on the Web](http://www.cvpapers.com/datasets.html), CVPapers :+1:

  * [YACVID: Yet Another Computer Vision Index To Datasets](http://riemenschneider.hayko.at/vision/dataset/), Hayko Riemenschneider :+1:

  * [Computer Vision Online Datasets](https://computervisiononline.com/datasets), Computer Vision Online

* **Others**

  * [Machine Learning Repository](http://archive.ics.uci.edu/ml), UCI

  * [Kaggle Datasets](https://www.kaggle.com/datasets), Kaggle

  * [IEEE DataPort](https://ieee-dataport.org/), IEEE



## Place-specific Datasets

### Driving Datasets

* [KITTI Vision Benchmark Suite](http://www.cvlibs.net/datasets/kitti/) and [KITTI-360](http://www.cvlibs.net/datasets/kitti-360/), Andreas Geiger et al. :+1:

  * [SemanticKITTI](http://semantic-kitti.org/), Jens Behley et al.

* [Waymo Open Dataset](https://waymo.com/open), Waymo

* [Cityscapes Dataset](https://www.cityscapes-dataset.com/)

* [AppoloScape Dataset](http://apolloscape.auto/)

* [Berkely DeepDrive Dataset](https://bdd-data.berkeley.edu/) (BDD100K), BAIR at UC Berkely

* [nuScenes Dataset](https://www.nuscenes.org/), APTIV

* [$D^2$-City Dataset](https://outreach.didichuxing.com/d2city/d2city), DiDi

* [Ford Campus Vision and Lidar Data Set](http://robots.engin.umich.edu/SoftwareData/Ford), PeRL at Univ. of Michigan

* [MIT DARPA Urban Challenge Dataset](http://grandchallenge.mit.edu/wiki/index.php?title=PublicData), MIT

* [KAIST Multi-spectral Recognition Dataset in Day and Night](https://sites.google.com/view/multispectral/), RCV Lab at KAIST

* [KAIST Complex Urban Dataset](http://irap.kaist.ac.kr/dataset/), IRAP Lab at KAIST

* [New College Dataset](http://www.robots.ox.ac.uk/NewCollegeData/index.php), MRG at Oxford Univ.

* [Chinese Driving from a Bike View](http://www.sujingwang.name/CDBV.html) (CDBV), CAS

* [CULane Dataset](https://xingangpan.github.io/projects/CULane.html), CUHK

* [ROMA (ROad MArkings) Image Database](http://perso.lcpc.fr/tarel.jean-philippe/bdd/), Jean-Philippe Tarel et al.



### Flying Datasets

* [The Zurich Urban Micro Aerial Vehicle Dataset](http://rpg.ifi.uzh.ch/zurichmavdataset.html), RPG at ETHZ

* [The UZH-FPV Drone Racing Dataset](http://rpg.ifi.uzh.ch/uzh-fpv.html), RPG at ETHZ

* [MultiDrone Public Dataset](https://multidrone.eu/multidrone-public-dataset/), MultiDrone Project

* [The Blackbird Dataset](https://github.com/mit-fast/Blackbird-Dataset), AgileDrones Group at MIT



### Underwater Datasets

* [Marine Robotics Datasets](http://marine.acfr.usyd.edu.au/datasets/), ACFR



### Outdoor Datasets

* [The Rawseeds Project](http://www.rawseeds.org/)

  * :memo: It includes _Bovisa_ dataset is for outdoor and _Bicocca_ dataset is for indoor.

* [Planetary Mapping and Navigation Datasets](http://asrl.utias.utoronto.ca/datasets/), ASRL at Univ. of Toronto



### Indoor Datasets

* [Robotics 2D-Laser Datasets](http://www.ipb.uni-bonn.de/datasets/), Cyrill Stachniss

  * :memo: It includes some of classic datasets published in [Radish](http://radish.sourceforge.net/).

* [Long-Term Mobile Robot Operations](http://robotics.researchdata.lncn.eu/), Lincoln Univ.

* [MIT Stata Center Data Set](http://projects.csail.mit.edu/stata/), Marine Robotics Group at MIT

* [KTH and COLD Database](https://www.pronobis.pro/#data), Andrzej Pronobis

* [Shopping Mall Datasets](http://www.irc.atr.jp/sets/TEMPOSAN_dataset/), IRC at ATR

* [RGB-D Dataset 7-Scenes](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/), Microsoft



## Topic-specific Datasets for Robotics

### Localization, Mapping, and SLAM

* [SLAM Benchmarking](http://ais.informatik.uni-freiburg.de/slamevaluation/), AIS at Univ. of Freiburg

* [Robotic 3D Scan Repository](http://kos.informatik.uni-osnabrueck.de/3Dscans/), Univ. of Wurzburg and Univ. of Osnabruck

* [3D Pose Graph Optimization](https://lucacarlone.mit.edu/datasets/), Luca Carlone

* **Landmark-based Localization**

  * [Range-only Data for Localization](http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/), CMU RI

  * [Roh's Angulation Dataset](https://github.com/sunglok/TriangulationToolbox/tree/master/dataset_roh), HyunChul Roh

  * [Wireless Sensor Network Dataset](http://www.cs.virginia.edu/~whitehouse/research/localization/), Kamin Whitehouse



### Path Planning and Navigation

* [Pathfinding Benchmarks](http://www.movingai.com/benchmarks/), Moving AI Lab at Univ. of Denver

* [Task and Motion Planner Benchmarking](http://www.neil.dantam.name/2018/rss-tmp-workshop/#benchmarks), RSS 2018 Workshop



## Topic-specific Datasets for Computer Vision

### Features

* [Affine Covariant Features Datasets](https://www.robots.ox.ac.uk/~vgg/data/affine/), VGG at Oxford

  * [Repeatability Benchmark Tutorial](https://www.vlfeat.org/benchmarks/overview/repeatability.html), VLFeat

* [A list of feature performance evaluation datasets](https://github.com/openMVG/Features_Repeatability), maintained by openMVG



### Saliency and Foreground

* **Saliency**

  * [MIT Saliency Benchmark](http://saliency.mit.edu/), MIT

  * [Salient Object Detection: A Benchmark](http://mmcheng.net/salobjbenchmark/), Ming-Ming Cheng

* **Foreground/Change Detection (Background Subtraction)**

  * [ChangeDetection.NET](http://www.changedetection.net/) (a.k.a. CDNET)



### Motion and Pose Estimation

* [AdelaideRMF: Robust Model Fitting Data Set](https://cs.adelaide.edu.au/~hwong/doku.php?id=data), Hoi Sim Wong



### Structure-from-Motion and 3D Reconstruction

* **Objects**

  * [IVL-SYNTHESFM v2](https://board.unimib.it/datasets/fnxy8z8894/1), Davide Marelli et al.

  * [Fuji-SfM Dataset](https://zenodo.org/record/3712808#.YSfTs44zaUl), Jordi Gene-Mola et al.

  * [Large Geometric Models Archive](https://www.cc.gatech.edu/projects/large_models/), Georgia Tech

  * [The Stanford 3D Scanning Repository](http://graphics.stanford.edu/data/3Dscanrep/), Stanford Univ.

* **Places**

  * [Photo Tourism Data](http://phototour.cs.washington.edu/), UW and Microsoft



### Object Tracking

* [Visual Object Tracking Challenge](http://www.votchallenge.net/) (a.k.a. VOT) :+1:

* [Visual Tracker Benchmark](http://cvlab.hanyang.ac.kr/tracker_benchmark/) (a.k.a. OTB)



### Object, Place, and Event Recognition

* **Pedestrians**

  * [EuroCity Persons Dataset](https://eurocity-dataset.tudelft.nl/) (a.k.a. ECP)

  * [Daimler Pedestrian Benchmark Data Sets](http://www.gavrila.net/Datasets/Daimler_Pedestrian_Benchmark_D/daimler_pedestrian_benchmark_d.html)

  * [CrowdHuman](http://www.crowdhuman.org/)

* **Objects**

  * [RGB-D Object Dataset](http://rgbd-dataset.cs.washington.edu/), UW

  * [Sweet Pepper and Peduncle 3D Datasets](http://enddl22.net/wordpress/datasets/sweet-pepper-and-peduncle-3d-datasets), InKyu Sa

* **Places**

  * [Loop Closure Detection](http://cogrob.ensta-paristech.fr/loopclosure.html), David Filliat et. al.

* **Traffic and Surveillance**

  * [BEST: Benchmark and Evaluation of Surveillance Task](http://best.sjtu.edu.cn/Data/List/Datasets), SJTU

  * [VIRAT Video Dataset](http://www.viratdata.org/)



## Research Groups

* [TUM CVG Datasets](https://vision.in.tum.de/data/datasets)

  * Tags: Visual(-inertia) odometry, visual SLAM, 3D reconstruction

* [Oxford VGG Datasets](http://www.robots.ox.ac.uk/~vgg/data/)

  * Tags: Visual features, visual recognition, 3D reconstruction

* [QUT CyPhy Datasets](https://wiki.qut.edu.au/display/cyphy/Datasets)

  * Tags: Visual SLAM, LiDAR SLAM

* [Univ. of Bonn Univ. Stachniss Lab Datasets](https://www.ipb.uni-bonn.de/data/)

  * Tags: SLAM

* [EPFL CVLAB Datasets](https://cvlab.epfl.ch/data)

  * Tags: 3D reconstruction, local keypoint, optical flow, RGB-D pedestrian

* [The Middlebury Computer Vision Pages](http://vision.middlebury.edu/)

  * Tags: Stereo matching, 3D reconstruction, MRF, optical flow, color

* [Caltech CVG Datasets](http://www.vision.caltech.edu/archive.html)

  * Tags: Objects (pedestrian, car, face), 3D reconstruction (on turntables)