List of Datasets

UGV, Quadruped

TartanGround

Ground robot perception and navigation

Synthetic ground robot trajectories across 63 environments with six stereo RGB pairs, depth, semantic labels, simulated inertial and LiDAR data, and pose truth.

Metadata: Complete Metadata needs review

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV, Quadruped
Environment
Indoor, Outdoor
Data origin
Simulation
Sensor count
14
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

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

Cameras

12 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.
Not reported Other AirSim Not reported 10 Hz Full 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
Simulator camera poses accompany images; legged base trajectories originate in Gazebo before rendering. No numerical accuracy claim is made.

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

Resampling supports arbitrary camera intrinsics and rotations; this does not establish a released raw calibration package.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Low camera viewpoints, vegetation occlusions and dark stairs challenge visual estimation.

Cameras

stereo_rgb

Model
Not reported
Setup
Stereo
Count
6
Effective cameras
12
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Six virtual stereo pairs face front, left, right, back, top and bottom. Each reports 90 degree FOV without a specified axis. Depth and semantics accompany the rendered views. The 10 Hz frequency describes dense poses; 1600x900 is the resampled occupancy experiment, not a native resolution statement.

IMUs

Simulated IMU data

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

LiDAR 1

Model or name
LiDAR 1
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Radar

Not reported

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 Available
Depth ground truth Available

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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