SLAM学习--开源测试数据集合

Tum

RGB-D SLAM Dataset and Benchmark
https://vision.in.tum.de/data/datasets/rgbd-dataset

Kitti

http://www.cvlibs.net/datasets/kitti/index.php

CMU

Dataset collected using the Navlab 11 equipped with IMU, GPS, Lidars and cameras
http://3dvis.ri.cmu.edu/data-sets/localization/

ETH

The EuRoC MAV Dataset
This web page presents visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth.
https://projects.asl.ethz.ch/datasets/doku.php

Liu Computer Vision Lab

林雪平大学计算机视觉实验室数据集 包含
AMUSE
GoPro IMU Dataset
GoPro Gyro Dataset
Kinect v2 Dataset
LTIR
Object Pose Estimation Database
PASSTA Datasets
Rolling Shutter Rectification Dataset
Rolling Shutter Bundle Adjustment Dataset
Swedish Leaf Dataset
Traffic Signs Dataset
TST-Priv
Video Stacking Dataset
http://www.cvl.isy.liu.se/en/research/datasets/gopro-imu-dataset/

明德学院双目匹配数据集

http://vision.middlebury.edu/stereo/data/

Oxford Robotcar data

https://robotcar-dataset.robots.ox.ac.uk/
包含同一辆车中，多目相机，鱼眼相机，激光雷达和GPS数据

opensource tool

MRPT

Mobile Robot Programming Toolkit provides developers with portable and well-tested applications and libraries covering data structures and algorithms employed in common robotics research areas. It is open source, released under the BSD license.
https://www.mrpt.org/