Dataset Explorer

Selected robotics datasets compared by overview and sensor summary metrics.
Metric	Blackbird	EuRoC	In-flight Energy Use	INSANE	KITTI	MADMAX	Malaga Urban	NAVER Labs	NCLT	Oxford RobotCar	PennCOSYVIO	Rawseeds	RGBD-SLAM	Rosario	TUM VI	TUM-LSI	UPenn Fast Flight	UZH-FPV	Zurich Urban MAV
Overview
Dataset	Blackbird	EuRoC	In-flight Energy Use	INSANE	KITTI	MADMAX	Malaga Urban	NAVER Labs	NCLT	Oxford RobotCar	PennCOSYVIO	Rawseeds	RGBD-SLAM	Rosario	TUM VI	TUM-LSI	UPenn Fast Flight	UZH-FPV	Zurich Urban MAV
Platform	UAV	UAV	UAV	UAV	Automotive	Handheld	Automotive	UGV	UGV	Automotive	Handheld	UGV	UGV, Handheld	UGV	Handheld	UGV	UAV	UAV	UAV
Environment	Indoor	Indoor	Outdoor	Indoor, Outdoor	Outdoor	Outdoor	Outdoor	Indoor	Indoor, Outdoor	Outdoor	Indoor, Outdoor	Indoor, Outdoor	Indoor	Outdoor	Indoor, Outdoor	Indoor	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
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.	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 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	6DoF platform pose GNSS / INS · 100 Hz Unknown Unknown reference	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 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	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	3D position camera pose Photogrammetry · 1 Hz Unknown Hybrid reference
Sensors
Sensor summary	3 Cameras, 1 IMU	2 Cameras, 1 IMU	1 IMU, 1 GNSS	3 Cameras, 3 IMUs, 3 GNSS, 1 LiDAR, 2 Magnetometers, 1 Barometer, 3 UWB	4 Cameras, 1 IMU, 1 GNSS, 1 LiDAR	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	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	2 Cameras, 1 IMU	6 Cameras	2 Cameras, 1 IMU, 1 GNSS	4 Cameras, 2 IMUs	1 Camera, 1 IMU, 1 GNSS, 1 Barometer
Camera
Effective camera count	3 Cameras	2 Cameras	Not available	3 Cameras	4 Cameras	5 Cameras	2 Cameras	10 Cameras	6 Cameras	6 Cameras	7 Cameras	5 Cameras	2 Cameras	2 Cameras	2 Cameras	6 Cameras	2 Cameras	4 Cameras	1 Camera
Camera setups	Stereo, Mono	Stereo	Not available	Mono, Stereo	Stereo	Stereo, Mono	Stereo	Mono	Omnidirectional	Mono, Trinocular	Mono, Stereo	Mono, Omnidirectional, Trinocular	Rgbd	Stereo	Stereo	Mono	Stereo	Stereo, Mono	Mono
Camera modalities	Grayscale	Grayscale	Not available	Grayscale	Rgb, Grayscale	Grayscale, Rgb	Rgb	Rgb	Rgb	Rgb	Rgb, Grayscale	Rgb, Grayscale	Rgbd	Rgb	Grayscale	Rgb	Grayscale	Grayscale, Event, Rgb	Rgb
Best camera rate	120 Hz	20 Hz	Not available	30 Hz	10 Hz	14 Hz	20 Hz	2.5 Hz	5 Hz	16 Hz	30 Hz	30 Hz	30 Hz	15 Hz	20 Hz	Not reported	40 Hz	30 Hz	30 Hz
Widest camera width	1024 px	768 px	Not available	2056 px	1392 px	2064 px	1024 px	2592 px	1600 px	1280 px	1920 px	640 px	640 px	672 px	1024 px	4592 px	960 px	640 px	1920 px
Shutter types	Not reported	Global	Not available	Global	Global	Not reported	Not reported	Global, Rolling	Global	Global	Rolling, Global	Not reported	Rolling	Rolling	Global	Not reported	Global	Global	Rolling
Camera IDs	forward-stereo; downward-facing	stereo-gray	Not available	mono-gray; stereo-gray	stereo-rgb; stereo-gray	navigation-stereo; color-camera; omnidirectional-stereo	stereo-rgb	basler-camera-ring; galaxy-query-cameras	omni-rgb	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	stereo-gray	navvis-camera-array	forward-stereo	snapdragon-stereo; mdavis-event; pilot-fpv-camera	mono-rgb
Camera entry counts	1; 1	1	Not available	1; 1	1; 1	1; 1; 1	1	6; 4	6	3; 1	3; 1; 1; 1	1; 1; 1	1	1	1	6	1	1; 1; 1	1
Effective counts by entry	2; 1	2	Not available	1; 2	2; 2	2; 1; 2	2	6; 4	6	3; 3	3; 1; 1; 2	1; 1; 3	2	2	2	6	2	2; 1; 1	1
Setups by entry	Stereo; Mono	Stereo	Not available	Mono; Stereo	Stereo; Stereo	Stereo; Mono; Stereo	Stereo	Mono; Mono	Omnidirectional	Mono; Trinocular	Mono; Mono; Mono; Stereo	Mono; Omnidirectional; Trinocular	Rgbd	Stereo	Stereo	Mono	Stereo	Stereo; Mono; Mono	Mono
Modalities by entry	Grayscale; Grayscale	Grayscale	Not available	Grayscale; Grayscale	Rgb; Grayscale	Grayscale; Rgb; Grayscale	Rgb	Rgb; Rgb	Rgb	Rgb; Rgb	Rgb; Rgb; Grayscale; Grayscale	Rgb; Rgb; Grayscale	Rgbd	Rgb	Grayscale	Rgb	Grayscale	Grayscale; Event; Rgb	Rgb
Rates by entry	120 Hz; 120 Hz	20 Hz	Not available	20 Hz; 30 Hz	10 Hz; 10 Hz	14 Hz; 4 Hz; 4-8 Hz	20 Hz	2.5 Hz; 1 Hz	5 Hz	11.1 Hz; 16 Hz	30 Hz; 30 Hz; 30 Hz; 20 Hz	30 Hz; 15 Hz; 15 Hz	30 Hz	15 Hz	20 Hz	Not reported	40 Hz	30 Hz; Not reported; Not reported	30 Hz
Resolution widths by entry	1024 px; 1024 px	768 px	Not available	2056 px; 848 px	1392 px; 1392 px	1032 px; 2064 px; 2064 px	1024 px	2592 px; 2160 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	1024 px	4592 px	960 px	640 px; 346 px; Not reported	1920 px
Resolution heights by entry	768 px; 768 px	480 px	Not available	1542 px; 800 px	512 px; 512 px	772 px; 1544 px; 1544 px	768 px	2048 px; 2880 px	1200 px	1024 px; 960 px	1080 px; 1080 px; 480 px; 480 px	480 px; 640 px; 480 px	480 px	376 px	1024 px	3448 px	800 px	480 px; 260 px; Not reported	1080 px
Shutters by entry	Not reported; Not reported	Global	Not available	Global; Global	Global; Global	Not reported; Not reported; Not reported	Not reported	Global; Rolling	Global	Global; Global	Rolling; Rolling; Global; Global	Not reported; Not reported; Not reported	Rolling	Rolling	Global	Not reported	Global	Global; Not reported; Not reported	Rolling
Lens types by entry	Not reported; Not reported	Not reported	Not available	Not reported; Not reported	Not reported; Not reported	Standard; Standard; Omnidirectional	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	Fisheye	Wide Angle	Not reported	Fisheye; Wide Angle; Not reported	Not reported
HFOV by entry	Not reported; Not reported	Not reported	Not available	101 deg; Not reported	Not reported; Not reported	61 deg; 61 deg; 360 deg	Not reported	79.4 deg; 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 reported	Not reported	Not reported	Not reported; Not reported; Not reported	Not reported
VFOV by entry	60 deg; 60 deg	Not reported	Not available	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	69.5 deg; 31 deg; 100 deg; 57 deg	Not reported; Not reported; Not reported	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	1 IMU	3 IMUs	1 IMU	1 IMU	1 IMU	Not available	2 IMUs	1 IMU	3 IMUs	1 IMU	Not available	1 IMU	1 IMU	Not available	1 IMU	2 IMUs	1 IMU
Best IMU rate	100 Hz	200 Hz	Not reported	900 Hz	10 Hz	100 Hz	100 Hz	Not available	100 Hz	50 Hz	200 Hz	128 Hz	Not available	140 Hz	200 Hz	Not available	200 Hz	1000 Hz	10 Hz
IMU models	Xsens MTi-3	ADIS16448	LORD MicroStrain 3DM-GX5-45 GNSS/INS	ICM20689; BMI055; LSM9DS1	OXTS RT3003	Xsens MTi-10	Xsens MTi	Not available	Microstrain 3DM-GX3-45; KVH DSP-3000	NovAtel SPAN-CPT ALIGN	Google Project Tango Yellowstone 7-inch tablet; Google Project Tango Yellowstone 7-inch tablet; ADIS16488	Xsens MTi	Not available	LSM6DS0	Bosch BMI160	Not available	VectorNav VN-100	iniVation miniDAVIS346; Qualcomm Snapdragon Flight	IMU 1
IMU entry counts	1	1	1	1; 1; 1	1	1	1	Not available	1; 1	1	1; 1; 1	1	Not available	1	1	Not available	1	1; 1	1
Accelerometer rates	100 Hz	200 Hz	Not reported	200 Hz; 200 Hz; 900 Hz	10 Hz	100 Hz	100 Hz	Not available	100 Hz; Not reported	50 Hz	128 Hz; 128 Hz; 200 Hz	128 Hz	Not available	140 Hz	200 Hz	Not available	200 Hz	1000 Hz; 500 Hz	10 Hz
Gyroscope rates	100 Hz	200 Hz	Not reported	200 Hz; 200 Hz; 900 Hz	10 Hz	100 Hz	100 Hz	Not available	100 Hz; 100 Hz	50 Hz	100 Hz; 100 Hz; 200 Hz	128 Hz	Not available	140 Hz	200 Hz	Not available	200 Hz	1000 Hz; 500 Hz	10 Hz
GNSS
GNSS count	Not available	Not available	1 GNSS	3 GNSS	1 GNSS	1 GNSS	1 GNSS	Not available	2 GNSS	1 GNSS	Not available	1 GNSS	Not available	1 GNSS	Not available	Not available	1 GNSS	Not available	1 GNSS
Best GNSS rate	Not available	Not available	10 Hz	8 Hz	10 Hz	1 Hz	1 Hz	Not available	5 Hz	5 Hz	Not available	5 Hz	Not available	5 Hz	Not available	Not available	5 Hz	Not available	Not reported
GNSS types	Not available	Not available	GPS/IMU	RTK	RTK	RTK	Gps	Not available	Gps, RTK	Gps Glonass	Not available	RTK	Not available	RTK	Not available	Not available	Not reported	Not available	Gps
Position output	Not available	Not available	Available	Available	Available	Available	Available	Not available	Available	Available	Not available	Available	Not available	Available	Not available	Not available	Available	Not available	Available
Velocity output	Not available	Not available	Available	Available	Available	Available	Not available	Not available	Available	Not available	Not available	Not reported	Not available	Available	Not available	Not available	Available	Not available	Not available
Heading output	Not available	Not available	Available	Not reported	Not reported	Not reported	Not reported	Not available	Not reported	Not reported	Not available	Not reported	Not available	Not reported	Not available	Not available	Not reported	Not available	Not reported
GNSS models/names	Not available	Not available	LORD MicroStrain 3DM-GX5-45	UBLOX C94-M8P; Pixhawk GNSS	OXTS RT3003	Piksi Multi GNSS SwiftNav	Consumer GPS receiver	Not available	Garmin 18x; NovAtel DL-4 Plus	NovAtel SPAN-CPT ALIGN	Not available	RTK GPS	Not available	Reach	Not available	Not available	GPS receiver	Not available	Onboard GPS receiver
GNSS counts by entry	Not available	Not available	1	2; 1	1	1	1	Not available	1; 1	1	Not available	1	Not available	1	Not available	Not available	1	Not available	1
GNSS rates by entry	Not available	Not available	10 Hz	8 Hz; 5 Hz	10 Hz	1 Hz	1 Hz	Not available	5 Hz; 1 Hz	5 Hz	Not available	5 Hz	Not available	5 Hz	Not available	Not available	5 Hz	Not available	Not reported
GNSS types by entry	Not available	Not available	GPS/IMU	RTK; Not reported	RTK	RTK	Gps	Not available	Gps; RTK	Gps Glonass	Not available	RTK	Not available	RTK	Not available	Not available	Not reported	Not available	Gps
GNSS outputs by entry	Not available	Not available	Position, Velocity, Heading	Position, Velocity; Position, Velocity	Position, Velocity	Position, Velocity	Position, Velocity unavailable	Not available	Position, Velocity; Position, Velocity	Position, Velocity unavailable	Not available	Position	Not available	Position, Velocity	Not available	Not available	Position, Velocity	Not available	Position, Velocity unavailable
LiDAR
LiDAR count	Not available	Not available	Not available	1 LiDAR	1 LiDAR	Not available	5 LiDARs	2 LiDARs	3 LiDARs	3 LiDARs	Not available	4 LiDARs	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR dimensionality	Not available	Not available	Not available	1	3	Not available	2	3	2, 3	2, 3	Not available	2	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Best LiDAR rate	Not available	Not available	Not available	30 Hz	10 Hz	Not available	75 Hz	10 Hz	40 Hz	50 Hz	Not available	75 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Highest scan channels	Not available	Not available	Not available	1	64	Not available	Not reported	16	32	4	Not available	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Longest LiDAR range	Not available	Not available	Not available	40 m	120 m	Not available	80 m	Not reported	100 m	50 m	Not available	Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR models/names	Not available	Not available	Not available	Garmin Lidar Lite v3	Velodyne HDL-64E	Not available	Hokuyo UTM-30LX; SICK LMS-200	Velodyne VLP-16	Hokuyo UTM-30LX; Hokuyo URG-04LX; Velodyne HDL-32E	SICK LMS-151; SICK LD-MRS	Not available	Hokuyo URG-04LX; SICK LMS291; SICK LMS200	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR counts by entry	Not available	Not available	Not available	1	1	Not available	3; 2	2	1; 1; 1	2; 1	Not available	2; 1; 1	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR dimensionality by entry	Not available	Not available	Not available	1	3	Not available	2; 2	3	2; 2; 3	2; 3	Not available	2; 2; 2	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR rates by entry	Not available	Not available	Not available	30 Hz	10 Hz	Not available	40 Hz; 75 Hz	10 Hz	40 Hz; 10 Hz; 10 Hz	50 Hz; 12.5 Hz	Not available	10 Hz; 75 Hz; 75 Hz	Not available	Not available	Not available	Not available	Not available	Not available	Not available
Scan channels by entry	Not available	Not available	Not available	1	64	Not available	Not reported; Not reported	16	1; 1; 32	Not reported; 4	Not available	Not reported; Not reported; Not reported	Not available	Not available	Not available	Not available	Not available	Not available	Not available
LiDAR ranges by entry	Not available	Not available	Not available	40 m	120 m	Not available	30 m; 80 m	Not reported	30 m; 4 m; 100 m	50 m; 50 m	Not available	Not reported; 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	2 Magnetometers	Not available	Not available	Not available	Not available	1 Magnetometer	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	80 Hz	Not available	Not available	Not available	Not available	100 Hz	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	LSM9DS1; UST8310	Not available	Not available	Not available	Not available	Microstrain 3DM-GX3-45	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	1; 1	Not available	Not available	Not available	Not available	1	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	20 Hz; 80 Hz	Not available	Not available	Not available	Not available	100 Hz	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	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	1 Barometer
Best barometer rate	Not available	Not available	Not available	20 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 reported
Barometer models/names	Not available	Not available	Not available	MS5611	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	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	1
Barometer rates by entry	Not available	Not available	Not available	20 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 reported
UWB
UWB count	Not available	Not available	Not available	3 UWB	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 UWB rate	Not available	Not available	Not available	7 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
UWB coverage	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 available	Not available	Not available	Not available	Not available	Not available	Not available
UWB models/names	Not available	Not available	Not available	Decawave TREK1000	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
UWB counts by entry	Not available	Not available	Not available	3	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
UWB rates by entry	Not available	Not available	Not available	7 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
UWB coverage by entry	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 available	Not available	Not available	Not available	Not available	Not available	Not available

Filters

Selected dataset comparison

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 EuRoC	EuRoC	UAV	Indoor	Real-world	2 Cameras, 1 IMU	Available	Available	Not reported	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 KITTI	KITTI	Automotive	Outdoor	Real-world	4 Cameras, 1 IMU, 1 GNSS, 1 LiDAR	Available	Available	Available	Source
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 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 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 Zurich Urban MAV	Zurich Urban MAV	UAV	Outdoor	Real-world	1 Camera, 1 IMU, 1 GNSS, 1 Barometer	Available	Available	Available	Source