Spatial AI Benchmark

Overview

• https://github.com/youngguncho/awesome-slam-datasets
• KITTI Vision Benchmark Suite
• Lifelong Robotic Vision

SLAM

Dataset	Sample	Params
TUM VI		<img src=/img/post/benchmark/tum_vi.png width=”80%”/>
TartanAir		<img src=/img/post/benchmark/TartanAir.png width=”80%”/>
ADVIO		<img src=/img/post/benchmark/ADVIO.png width=”80%”/>
NEAR-VI		<img src=/img/post/benchmark/NEAR.png width=”80%”/>

Autonomous Driving

• 无人驾驶数据集汇总
• https://github.com/hunjung-lim/awesome-vehicle-datasets

Institution	Dataset	Sample	Params
EPAN Research Group @ UTBM	EU Long-term Dataset	<img src=/img/post/benchmark/EULong-termDataset-Path00.png width=”400px”/>	<img src=/img/post/benchmark/EULong-termDataset-Params00.png width=”300px”/>
RPM Robotics Lab @ SNU	Complex Urban Dataset	<img src=/img/post/benchmark/ComplexUrbanDataset-Car00.png width=”400px”/>	<img src=/img/post/benchmark/ComplexUrbanDataset-Params00.png width=”500px”/>
IPN Lab @ Polyu	UrbanNav	<img src=https://github.com/IPNL-POLYU/UrbanNavDataset/raw/master/img/hongkong_sensor2.png width=”400px”/>	<img src=https://github.com/IPNL-POLYU/UrbanNavDataset/raw/master/img/calibration_sensors.png width=”500px”/>
	Waymo Open Dataset

Mobile Robot

	Dataset	Sample	Params
ASRL @ UToronto	UTIAS Long-Term Localization and Mapping Dataset	<img src=http://asrl.utias.utoronto.ca/datasets/2020-vtr-dataset/images/ItD_Paton.png width=”80%”/>
	Motion-Distorted Lidar Simulation Dataset

MAV

Institution	Dataset	Sample	Params
ASL @ EHTZ	EuRoC MAV Dataset	<img src=https://projects.asl.ethz.ch/datasets/lib/exe/fetch.php?w=210&tok=3d9fd6&media=front_side_gray.jpg width=”300px”/>	<img src=https://projects.asl.ethz.ch/datasets/lib/exe/fetch.php?w=400&tok=1dbdef&media=platform.jpg width=”400px”/>
RPG @ UZH	The UZH FPV Dataset	<img src=https://fpv.ifi.uzh.ch/wp-content/uploads/2020/09/Are_We_Ready_for_Autonomous_Drone_Racing_The_UZH-FPV_Drone_Racing_Dataset.gif width=”400px”/>
	The “Multi-FoV” synthetic datasets
Urban Robotics Lab @ KAIST	KAIST VIO dataset	<img src=https://user-images.githubusercontent.com/45934290/96549200-222db480-12ea-11eb-8273-30d08be27316.png width=”400px”/>	<img src=https://user-images.githubusercontent.com/45934290/96550443-d419b080-12eb-11eb-805d-dab8393dd6f0.png width=”400px”/>