This repository provides a curated list of awesome datasets for Visual Place Recognition (VPR), which is also called loop closure detection (LCD). It is a significant component in V-SLAM (Visual Simultaneous Localization and Mapping) systems.
We will update the list if new VPR dataset is presented.
Our survey paper on deep learning-based visual place recognition contains detailed information about these datasets:
Xiwu Zhang, Lei Wang, and Yan Su. Visual Place Recognition: A Survey From Deep Learning Perspective. Pattern Recognition, November 2020, doi: https://doi.org/10.1016/j.patcog.2020.107760.
This list summarizes public available datasets that can be used for visual place recognition. We devide them into multiple categories according to different research topics, for example, long-term, across-seasons, semantic VPR and so on.
| Topic | Name | Year | Image type | Environment | Illumination | Viewpoint | Ground Truth | Labels | Extra Information |
|---|---|---|---|---|---|---|---|---|---|
| Generic | New College and City Centre [1] | 2008 | RGB | Outdoor | slight | ✔️ | ✔️ | ✔️ | GPS |
| New College Vision and Laser [2] | 2009 | Gray. | Outdoor | slight | ✔️ | ✔️ | GPS, IMU, LiDAR | ||
| Rawseeds | 2006 | RGB | Indoor/Outdoor | ✔️ | ✔️ | GPS, LiDAR | |||
| Ford Campus | 2011 | RGB | Urban | slight | ✔️ | GPS, IMU, LiDAR | |||
| Malaga Parking 6L | 2009 | RGB | Outdoor | ✔️ | GPS, IMU, LiDAR | ||||
| KITTI Odometry | 2012 | Gray./ RGB | Urban | slight | ✔️ | GPS, IMU, LiDAR | |||
| Long-term | St. Lucia | 2010 | RGB | Urban | ✔️ | slight | GPS | ||
| COLD | 2009 | RGB | Indoor | ✔️ | ✔️ | ✔️ | ✔️ | LiDAR | |
| Oxford RobotCar | 2017 | RGB | Urban | ✔️ | ✔️ | GPS, IMU, LiDAR | |||
| Gardens Point Walking | 2014 | RGB | Indoor/ Outdoor | ✔️ | ✔️ | - | |||
| MSLS | 2020 | RGB | Urban | ✔️ | ✔️ | ✔️ | GPS | ||
| Across seasons | Nurburgring and Alderley | 2012 | RGB | Urban | ✔️ | ✔️ | ✔️ | - | |
| Nordland | 2013 | RGB | Outdoor | ✔️ | ✔️ | GPS | |||
| CMU | 2011 | RGB | Urban | ✔️ | ✔️ | ✔️ | GPS | ||
| Freiburg (FAS) | 2014 | RGB | Urban | ✔️ | ✔️ | ✔️ | GPS | ||
| VPRiCE | 2015 | RGB | Outdoor | ✔️ | ✔️ | - | |||
| RGB-D | TUM RGB-D | 2012 | RGB-D | Indoor | ✔️ | ✔️ | IMU | ||
| Microsoft 7-Scenes | 2013 | RGB-D | Indoor | ✔️ | ✔️ | ✔️ | - | ||
| ICL-NUIM | 2014 | RGB-D | Indoor | ✔️ | ✔️ | - | |||
| Semantic | KITTI Semantic | 2019 | RGB | Urban | ✔️ | ✔️ | GPS, IMU, LiDAR | ||
| Cityscapes | 2016 | RGB | Urban | ✔️ | ✔️ | GPS | |||
| CSC | 2019 | RGB | Outdoor | ✔️ | ✔️ | LiDAR | |||
| Train networks | Cambridge Landmarks | 2015 | RGB | Outdoor | ✔️ | ✔️ | ✔️ | ✔️ | - |
| Pittsburgh250k | 2013 | RGB | Urban | ✔️ | ✔️ | ✔️ | ✔️ | GPS | |
| Tokyo 24/7 | 2015 | RGB | Urban | ✔️ | ✔️ | ✔️ | GPS | ||
| SPED | 2017 | RGB | Outdoor | ✔️ | ✔️ | - | |||
| Omni-directional | New College Vision and Laser | 2009 | Gray. | Outdoor | slight | ✔️ | ✔️ | GPS, IMU, LiDAR | |
| MOLP | 2018 | Gray./D | Outdoor | ✔️ | ✔️ | GPS | |||
| NCLT | 2016 | RGB | Outdoor | ✔️ | ✔️ | ✔️ | GPS, LiDAR | ||
| Aerial/UAV | Shopping Street 1/2 | 2018 | Gray. | Urban | slight | ✔️ | ✔️ | - | |
| EuRoC | 2016 | Gray. | Indoor | ✔️ | ✔️ | IMU | |||
| Underwater | UWSim | 2016 | RGB | Under-water | ✔️ | GPS | |||
| Range sensors | MulRan | 2020 | 3D Point clouds | Urban | ✔️ | ✔️ | LiDAR, RADAR |
[1] Cummins, M. & Newman, P. FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance. The International Journal of Robotics Research, 2008, 27, 647-665
[2] M. Smith, I. Baldwin, W. Churchill, R. Paul, P. Newman, The new college vi- sion and laser data set, Int. J. Rob. Res. 28 (5) (2009) 595–599, doi: 10.1177/ 0278364909103911 .
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Citations to this work:
@article{ZHANG2020107760,
title = "Visual place recognition: A survey from deep learning perspective",
journal = "Pattern Recognition",
pages = "107760",
year = "2020",
issn = "0031-3203",
doi = "https://doi.org/10.1016/j.patcog.2020.107760",
url = "http://www.sciencedirect.com/science/article/pii/S003132032030563X",
author = "Xiwu Zhang and Lei Wang and Yan Su",
}