SLAM Dataset Overview
SLAM dataset with different sensor suite
| Dataset | Institution | Year | GNSS (Raw) | IMU | Camera | LiDAR | UWB | Ground Truth | Platform |
|---|---|---|---|---|---|---|---|---|---|
| HKU MARS | HKU | 2023 | √ (√) | √ | √ | √ | √ | UAV | |
| STAR-loc | UofT | 2023 | √ | √ | √ | √ | UAV | ||
| S3E | SYSU | 2023 | √ (×) | √ | √ | √ | √ | 3×UGV | |
| GRACO | SYSU | 2023 | √ (×) | √ | √ | √ | √ | UAV/UGV | |
| Hilti | Hilti | 2023 | √ | √ | √ | √ | Hand/UGV | ||
| GVINS | HKUST | 2022 | √ (√) | √ | √ | √ | Hand/Car | ||
| VIRAL | NTU | 2022 | √ | √ | √ | √ | √ | UAV | |
| SJTU_GVI | SJTU | 2022 | √ (√) | √ | √ | √ | Car | ||
| UrbanNav | PolyU | 2022 | √ (√) | √ | √ | √ | √ | Car | |
| FusionPortable | HKUST | 2022 | √ (×) | √ | √ | √ | √ | Hand | |
| Marine Perception | MIT | 2022 | √(×) | √ | √ | √ | √ | Canoe | |
| Hilti | Hilti | 2022 | √ | √ | √ | √ | Hand | ||
| Insane | University of Klagenfurt | 2022 | √(×) | √ | √ | √ | √ | UAV | |
| Visual-Inertial-LiDAR | Leibniz Universität Hannover | 2022 | √ | √ | √ | Car | |||
| VECtor | ShanghaiTech University | 2022 | √ | √ | √ | √ | Hand | ||
| M2DGR | SJTU | 2021 | √ (√) | √ | √ | √ | √ | UGV | |
| GroundRobot | CAS | 2021 | √ (×) | √ | √ | √ | √ | UGV | |
| Hilti | Hilti | 2021 | √ | √ | √ | √ | Hand | ||
| UTBM | UTBM | 2020 | √ (×) | √ | √ | √ | √ | Car | |
| UrbanLoco | PolyU | 2020 | √ (√) | √ | √ | √ | √ | Car | |
| TEX-CUP | University of Texas Austin | 2020 | √(√) | √ | √ | √ | Car | ||
| Kaist Urban | KAIST | 2019 | √ (×) | √ | √ | √ | √ | Car | |
| TUM VI | TUM | 2019 | √ | √ | √ | UGV | |||
| FPV | ETH | 2019 | √ | √ | √ | UAV | |||
| Canoe | University of Illinois Board of Trustees | 2018 | √ | √ | √ | Canoe | |||
| MVSEC | University of Pennsylvania | 2018 | √ | √ | √ | √ | Car/Motorbike/UAV/Hand | ||
| Zurich MAV | ETH | 2017 | √ (×) | √ | √ | √ | UAV | ||
| Ford | Ford | 2017 | √ (×) | √ | √ | √ | √ | Car | |
| KITTI | KIT | 2016 | √ (×) | √ | √ | √ | √ | Car | |
| Robotcar | Oxford | 2016 | √ (×) | √ | √ | √ | √ | Car | |
| EuRoC | ETH | 2016 | √ | √ | UAV | ||||
| Maplab | ETH | 2016 | √ | √ | Hand |
Zongzhou Wu
Ph.D. Student
My research interest includes multi-sensor fusion, Global Navigation Satellite System (GNSS), indoor-outdoor seamless positioning, simultaneous localization and mapping (SLAM), and sensor calibration.