Datasets › Oxford RobotCar Dataset

Oxford RobotCar Dataset

Introduced by Will Maddern et al. in Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset archive 2025-07-28

The Oxford RobotCar Dataset contains over 100 repetitions of a consistent route through Oxford, UK, captured over a period of over a year. The dataset captures many different combinations of weather, traffic and pedestrians, along with longer term changes such as construction and roadworks.

Source: Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset

Homepage Benchmarks Papers JSON

Benchmarks archive 2025-07-28

All 3 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

		First row (archive order)	Paper	Code
3D Place Recognition	Oxford RobotCar Dataset	CrossLoc3D AR@1 94.36	CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition	rayguan97/crossloc3d	10	Compare
Visual Place Recognition	Oxford RobotCar Dataset	AnyLoc-VLAD-DINOv2 Recall@1 98.95	AnyLoc: Towards Universal Visual Place Recognition	AnyLoc/AnyLoc	7	Compare
Unsupervised Domain Adaptation	Cityscapes-to-OxfordCar	Uncertainty + Adaboost mIoU 75.2	Adaptive Boosting for Domain Adaptation: Towards Robust...	layumi/AdaBoost_Seg +1	4	Compare

Papers archive 2025-07-28

18 shown of 18 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 42. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

			Date	Samples run Syntology
AnyLoc: Towards Universal Visual Place Recognition	1	2	1 Aug 2023	ran 1 of 1 samples (0 unverified)
DINOv2: Learning Robust Visual Features without Supervision	26	1	14 Apr 2023	ran 21 of 46 samples (25 unverified; 12 pointer-only for licence)
CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition	1	1	31 Mar 2023	ran 11 of 15 samples (4 unverified)
MixVPR: Feature Mixing for Visual Place Recognition	1	1	3 Mar 2023	not harvested
Rethinking Visual Geo-localization for Large-Scale Applications	2	1	5 Apr 2022	ran 6 of 10 samples (4 unverified; 2 pointer-only for licence)
MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensity	1	1	13 Dec 2021	not harvested
SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognition	0	1	1 May 2021	not harvested
Emerging Properties in Self-Supervised Vision Transformers	32	1	29 Apr 2021	ran 5 of 20 samples (15 unverified; 2 pointer-only for licence)
Adaptive Boosting for Domain Adaptation: Towards Robust Predictions in Scene Segmentation	2	2	29 Mar 2021	not harvested
Pyramid Point Cloud Transformer for Large-Scale Place Recognition	1	1	1 Jan 2021	not harvested
SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Recognition	1	1	24 Nov 2020	not harvested
DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization	1	1	17 Jul 2020	not harvested
Rectifying Pseudo Label Learning via Uncertainty Estimation for Domain Adaptive Semantic Segmentation	2	1	8 Mar 2020	ran 3 of 3 samples (0 unverified; 1 pointer-only for licence)
Unsupervised Scene Adaptation with Memory Regularization in vivo	1	1	24 Dec 2019	ran 3 of 3 samples (0 unverified; 3 pointer-only for licence)
PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval	1	1	22 Apr 2019	not harvested
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis	2	1	11 Dec 2018	not harvested
PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition	6	1	10 Apr 2018	not harvested
NetVLAD: CNN architecture for weakly supervised place recognition	14	1	23 Nov 2015	ran 0 of 12 samples (12 unverified)

Dataset loaders archive 2025-07-28

No loader listed in the archive.

Tasks archive 2025-07-28

Unsupervised Domain Adaptation Visual Place Recognition 3D Place Recognition

License archive 2025-07-28

No licence recorded in the archive. Absence here is not a statement about the dataset's terms.

Modalities archive 2025-07-28

Images

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

Oxford RobotCar Dataset
Cityscapes-to-OxfordCar

2 variant names, as the archive lists them.

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