List of Datasets

UGV

M2DGR

Multi-sensor ground-robot SLAM

Ground-robot SLAM sequences spanning outdoor campus routes, indoor rooms, darkness and elevator transitions.

Metadata: Complete Metadata curator reviewed Released 2021

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

Supplementary

Not reported

Quick facts

Vehicle type
UGV
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
14
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

10 reported

IMUs

2 reported

GNSS

1 reported

LiDAR

1 reported

Radar

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.
3D position GNSS / INS Xsens RTK/INS · MTi680G Not reported 100 Hz Partial · Street, Circle, Gate, Walk 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
Nominal 2 cm RTK hardware specification is not an achieved collection-wide accuracy.
Reference notes
Outdoor position reference; released orientation scope is not established.
3D position Total station Leica · Nova MS60 Not reported 10 Hz Partial · Hall, Door, Lift, Except Inside Elevator 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
Nominal 1 mm + 1.5 ppm instrument specification; no verified dataset-wide scalar accuracy.
Reference notes
Prism tracking loses visibility inside elevator.
3D position Motion capture Vicon · Vero 2.2 12 cameras 50 Hz Partial · Room, Roomdark 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
Nominal 1 mm hardware claim, not measured collection-wide error.
Reference notes
Room reference positions; public attitude fields are not established.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

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

Parameters only

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

Notes

Per-sequence calibration results supplied; raw calibration recordings are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Darkness and low texture degrade visual methods.

GNSS reference applies outdoors; prism tracking is blocked inside the elevator.

Open spaces, repetitive corridors and vertical elevator motion challenge the evaluated estimators.

Cameras

Camera 1

Model
Pointgrey CM3-U3-13Y3C
Setup
Multi Camera
Count
7
Effective cameras
7
Modality
Rgb
Resolution
1280 x 1024
Rate
15 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Seven fisheye imagers: two stereo pairs, two side cameras, one upward camera. Shared 190-degree horizontal/vertical FOV reported.

Camera 2

Model
RealSense d435i
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
640 x 480
Rate
15 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Only the listed color image stream is proposed; RGB-D capability is not evidence of released depth.

Camera 3

Model
Gaode PLUG 617
Setup
Mono
Count
1
Effective cameras
1
Modality
Thermal
Resolution
640 x 512
Rate
25 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Reported FOV: 90.2 degrees horizontal, 70.6 degrees vertical.

Camera 4

Model
DVXplorer
Setup
Mono
Count
1
Effective cameras
1
Modality
Event
Resolution
640 x 480
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Asynchronous events and rendered images are listed. The table 15 Hz entry does not establish an event sampling rate.

IMUs

Standalone IMU

Model
Handsfree A9
Count
1
Accel / gyro
150 / 150 Hz

RealSense-integrated IMU

Model
Not reported
Count
1
Accel / gyro
200 / 200 Hz

GNSS

u-blox M8T

Model or name
u-blox M8T
Count
1
Rate
1 Hz
GNSS type
STANDARD
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

Velodyne VLP-32C

Model or name
Velodyne VLP-32C
Count
1
Dimensions
3
Rate
10 Hz
Channels
32
Range
Not reported

Radar

Not reported

Additional sensors

Not reported

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
yin2021m2dgr

BibTeX

@misc{yin2021m2dgr,
  title = {M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robots},
  author = {Jie Yin and Ang Li and Tao Li and Wenxian Yu and Danping Zou},
  year = {2021},
  eprint = {2112.13659v1},
  archivePrefix = {arXiv}
}

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