List of Datasets

Marine surface

USVInland

SLAM, stereo matching and water segmentation

Multisensor recordings from an inflatable boat in Chinese inland waterways, with separate SLAM, stereo matching and water segmentation benchmarks.

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
Marine surface
Environment
Outdoor
Data origin
Real-world
Sensor count
10
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Available

Sensor overview

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

Cameras

2 reported

IMUs

2 reported

GNSS

2 reported

LiDAR

1 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 GNSS / INS Platform GPS and IMU Not reported Not reported Partial · 33-Sequence SLAM Benchmark 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
Accuracy notes
Only RTK Fixed sequences are selected; centimeter-level GPS hardware capability does not establish reference trajectory accuracy.
Reference notes
GPS locations and IMU pose information supply the reference; dimensionality and fusion details are unspecified. Two-dimensional evaluation does not establish a two-dimensional-only reference product.
Other Other Dataset lidar Not reported Not reported Partial · Non-Water Pixels in Stereo Matching Benchmark 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
Adjacent lidar frames are aggregated with ICP and projected onto the image plane; water-surface depth ground truth is unavailable.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Checkerboard and physical targets

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Factory camera intrinsics and camera/embedded-IMU extrinsics; checkerboard camera-lidar alignment; measured and point-cloud-refined radar-lidar alignment. Raw calibration measurements are released.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Water-surface depth ground truth is unavailable.

Fog and unstable water reflections impair visual estimation.

Public SLAM sequences are restricted to RTK Fixed GPS coverage.

Cameras

stereo_rgb

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
Not reported
Rate
20 Hz
Shutter
Global
Lens type
Not Reported
HFOV
95 deg
VFOV
50 deg
Notes
Hardware specification lists 640×400 or 1280×800, an 80 mm baseline and hardware synchronization; the SGM evaluation instead uses 640×320 image pairs.

IMUs

Stereo-camera-integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

INS IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

U-Blox ZED-F9

Model or name
U-Blox ZED-F9
Count
2
Rate
5 Hz
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Not reported
Heading output
Available

LiDAR

LiDAR 1

Model or name
LiDAR 1
Count
1
Dimensions
3
Rate
10 Hz
Channels
16
Range
100 m

Radar

Radar 1

Count
3
Released data
Point detections / point clouds
Frame rate
10 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Front and side radar point clouds are fused for radar SLAM. Hardware specifications report 94° horizontal and 50° vertical FoV, 18.08 m maximum unambiguous range, 0.045 m range resolution, 3.96 m/s maximum radial velocity and 0.25 m/s radial velocity resolution; these do not establish released Doppler/elevation channels or a verified delivered configuration.

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 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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