List of Datasets

Automotive

CARLA-Loc

SLAM robustness under weather and dynamic objects

Synthetic automotive SLAM collection with 42 sequences across seven CARLA maps, paired ego trajectories, multimodal sensors, and simulation ground truth.

Metadata: Complete Metadata needs review Released 2023

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Simulation
Sensor count
13
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

6 reported

IMUs

1 reported

GNSS

1 reported

LiDAR

2 reported

Radar

3 reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Not reported Other Not reported Not reported 200 Hz Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Unknown
Reference notes
Simulation reference reported at 200 Hz in Table I; position is used for APE/RPE evaluation. Full pose components and distribution coverage require release verification.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Camera baseline is 400 mm and cameras are configured without distortion; the paper does not establish a separately distributed calibration package.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

dynamic_objects

weather_effects

low_light

Cameras

stereo-rgb

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
1280 x 720
Rate
20 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
90 deg
VFOV
Not reported
Notes
Front binocular synthetic RGB output; 400 mm baseline, with no lens distortion. Colocated depth, semantic and event products are also supplied.

stereo-depth

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Depth
Resolution
1280 x 720
Rate
20 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
90 deg
VFOV
Not reported
Notes
Synthetic depth from the same binocular layout; count is left unknown to avoid multiplying colocated modality outputs.

stereo-event

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Event
Resolution
1280 x 720
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
90 deg
VFOV
Not reported
Notes
Synthetic stereo event data; the 20 Hz image cadence is not assigned to the asynchronous event stream.

IMUs

CARLA simulated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

CARLA simulated GNSS

Model or name
CARLA simulated GNSS
Count
1
Rate
5 Hz
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

CARLA simulation based on Velodyne HDL-32E

Model or name
CARLA simulation based on Velodyne HDL-32E
Count
2
Dimensions
3
Rate
20 Hz
Channels
32
Range
120 m

Radar

CARLA simulation based on Oculii Falcon 77

Count
3
Released data
Not reported
Frame rate
20 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Three simulated radars jointly cover 360 degrees and produce about 15,000 points per second. The prototype is described with 200 m range and 120/30 degree azimuth/vertical FOV; configured release limits are not separately established.

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Not reported
Class count
Not reported
Semantic segmentation Available
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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