List of Datasets

Quadruped

CEAR

Rapid perception and motion estimation for agile quadrupeds

106 Mini Cheetah sequences with event and RGB-D imagery, inertial measurements and joint angles; LiDAR is included outside the backflip subset.

Metadata: Complete Metadata needs review

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

Download

Not reported

Paper

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Quadruped
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
6
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

4 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

1 reported

Radar

Not 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.
6DoF Motion capture OptiTrack · PrimeX-22 8 cameras 120 Hz Partial · Indoor Mocap-Named Sequences 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.
External
Reference notes
Tracking volume 7.5 by 5.5 by 2.8 m; do not extrapolate this reference to all backflip sites.
6DoF LiDAR SLAM Faster-LIO Not reported Not reported Partial · Outdoor Non-Backflip Sequences, Indoor Non-MoCap Non-Backflip Sequences 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.
Derived
Reference notes
Derived from LiDAR and IMU; the generic non-MoCap reference statement does not explain LiDAR-free backflips.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Available parameters include event-camera intrinsics, VectorNav inertial calibration and pairwise sensor transforms; RealSense manufacturer intrinsics and RGB-depth extrinsics are retained.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Backflip sequences omit LiDAR.

Backflip RGB imagery suffers severe motion blur and landing causes abrupt inertial changes.

References outside the MoCap subset use estimated trajectories; other backflip reference coverage needs clarification.

Cameras

davis346

Model
DAVIS346
Setup
Mono
Count
1
Effective cameras
1
Modality
Event
Resolution
346 x 260
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
70 deg
VFOV
56 deg
Notes
Outdoor configuration; alternative to DVXplorer Lite. Conventional frames are used in DAVIS346 evaluation setups, but no frame rate is established.

dvxplorer-lite

Model
DVXplorer Lite
Setup
Mono
Count
1
Effective cameras
1
Modality
Event
Resolution
320 x 240
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
61 deg
VFOV
52 deg
Notes
Indoor and backflip configuration; alternative to DAVIS346.

realsense-d455

Model
RealSense D455
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
640 x 480
Rate
60 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
RGB and depth exposure-midpoint timestamps typically differ by 0 to 8.33 ms.

IMUs

Standalone IMU

Model
VectorNav VN-100
Count
1
Accel / gyro
400 / 400 Hz

GNSS

Not reported

LiDAR

Velodyne VLP-16

Model or name
Velodyne VLP-16
Count
1
Dimensions
3
Rate
10 Hz
Channels
16
Range
100 m

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Other sensor

Name
Joint encoders
Count
12
Rate
100 Hz
Notes
Joint angular positions; device measures at 1 kHz but this dataset records at 100 Hz.

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
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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