List of Datasets

Quadruped

GrandTour

Legged robotics multimodal perception and state estimation

ANYmal-D/Boxi recordings with heterogeneous cameras, three LiDARs, seven released IMUs and rich proprioception, supported by partial total-station/GNSS-INS references.

Metadata: Complete Metadata source documented Released 2025

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

Quick facts

Vehicle type
Quadruped
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
28
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

16 reported

IMUs

7 reported

GNSS

Not reported

LiDAR

3 reported

Radar

Not reported

Magnetometers

1 reported

Barometers

1 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.
3D position Total station Leica total station · MS60 Not reported 20 Hz Partial 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
Accuracy notes
1.5 mm range specification, not a dataset-wide dynamic 3D trajectory accuracy bound.
Reference notes
Prism positions via modified AP20; each mission has visibility gaps. Table 3 coverage is 6.519–99.872%.
6DoF GNSS / INS NovAtel / Inertial Explorer · SPAN CPT7 Not reported Not reported Partial 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.
Hybrid
Accuracy notes
Precision depends on GNSS outage duration and axis; Table 4 is a device/software specification, not an independent all-mission error guarantee.
Reference notes
Tightly coupled GNSS/INS pose where supported; HG4930 IMU is also a released input stream, so the reference is not fully independent of every benchmark input. RT and TC are products of the same source.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
AprilGrid and surveyed prism/camera targets

Parameters only

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

Notes

Camera-bundle, Kalibr camera/IMU, LiDAR-camera intensity alignment and prism calibration; payload/robot CAD alignment is validated. Raw calibration recordings are not explicitly established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

The selected paper lists forty-nine missions; table sums give 20,345 seconds and 10,264.033 metres. Mission durations are not uniformly three to seven minutes.

The paper identifies seven released IMU streams, despite an eight-IMU overview illustration; no ZED2i internal IMU is added. Benchmark variants redact CPT7 IMU and withhold designated test trajectories.

Leica prism measurements have visibility gaps. GNSS/INS references reuse a released IMU; device precision specifications are not independent trajectory-error guarantees.

HDR released images are 10 Hz despite 30 fps hardware capability; ZED2i USB timing is unreliable. Semantic masks, Holistic Fusion trajectories and complete raw calibration sessions are not asserted as universal products.

The project hostname failed DNS resolution during this review. The maintained author repository and public Hugging Face archive provide access; ROS-format access has a separate registration flow.

Cameras

Camera 1

Model
Sevensense CoreResearch
Setup
Mono
Count
3
Effective cameras
3
Modality
Rgb
Resolution
1440 x 1080
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Three released RGB views; separate grayscale stereo cameras are represented in the next entry.

Camera 2

Model
Sevensense CoreResearch
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
1440 x 1080
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Two front mono cameras used as one stereo pair; count is one pair under the canonical convention.

Camera 3

Model
TierIV C1
Setup
Mono
Count
3
Effective cameras
3
Modality
Rgb
Resolution
1920 x 1280
Rate
10 Hz
Shutter
Rolling
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Released stream rate in Table 5 is 10 Hz; Table 2 specifies 30 fps hardware.

Camera 4

Model
Stereolabs ZED2i
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
1920 x 1080
Rate
15 Hz
Shutter
Rolling
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One stereo RGB-D system; left/right RGB, depth and confidence are released. USB timing is unreliable.

Camera 5

Model
Intel RealSense D435i
Setup
Mono
Count
6
Effective cameras
6
Modality
Depth
Resolution
848 x 480
Rate
15 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
ANYmal cameras release depth only in Table 5; no additional RGB or internal IMU streams are inferred.

IMUs

CPT7 integrated IMU

Model
Honeywell HG4930
Count
1
Accel / gyro
Not reported

Auxiliary IMU

Model
Safran STIM320
Count
1
Accel / gyro
Not reported

ANYmal integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

Leica AP20 integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

Auxiliary IMU

Model
Analog Devices ADIS16475-2
Count
1
Accel / gyro
Not reported

CoreResearch integrated IMU

Model
Bosch BMI085
Count
1
Accel / gyro
Not reported

Livox integrated IMU

Model
TDK ICM40609
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Livox Mid-360

Model or name
Livox Mid-360
Count
1
Dimensions
3
Rate
10 Hz
Channels
Not reported
Range
40 m

Hesai XT-32

Model or name
Hesai XT-32
Count
1
Dimensions
3
Rate
10 Hz
Channels
Not reported
Range
120 m

Velodyne VLP-16

Model or name
Velodyne VLP-16
Count
1
Dimensions
3
Rate
10 Hz
Channels
Not reported
Range
100 m

Radar

Not reported

Additional sensors

Barometer

Name
ZED2i pressure readings
Count
1
Notes
Released pressure topic; internal device model/count not established.

Magnetometer

Name
ZED2i magnetic-field readings
Count
1
Notes
Released magnetic-field topic; internal device model/count not established.

Other sensor

Name
ANYmal joint encoders/actuator state
Count
12
Notes
Twelve joint encoder/actuator channels provide positions, velocities and torques. They are not wheel encoders or independently measured foot-contact truth.

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
frey2026grandtour

BibTeX

@article{frey2026grandtour,
  title={GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation},
  author={Frey, Jonas and Tuna, Turcan and Fu, Frank and Patterson, Katharine and Xu, Tianao and Fallon, Maurice and Cadena, Cesar and Hutter, Marco},
  journal={arXiv preprint arXiv:2602.18164},
  year={2026}
}

Dataset corrections

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