{"url":"/dataset/tum-monovo","name":"TUM monoVO","full_name":"TUM monoVO","description_markdown":"**TUM monoVO** is a dataset for evaluating the tracking accuracy of monocular Visual Odometry (VO) and SLAM methods. It contains 50 real-world sequences comprising over 100 minutes of video, recorded across different environments – ranging from narrow indoor corridors to wide outdoor scenes.\nAll sequences contain mostly exploring camera motion, starting and ending at the same position: this allows to evaluate tracking accuracy via the accumulated drift from start to end, without requiring ground-truth for the full sequence.\nIn contrast to existing datasets, all sequences are photometrically calibrated: the dataset creators provide the exposure times for each frame as reported by the sensor, the camera response function and the lens attenuation factors (vignetting).\n\nSource: [https://vision.in.tum.de/data/datasets/mono-dataset](https://vision.in.tum.de/data/datasets/mono-dataset)\nImage Source: [https://vision.in.tum.de/data/datasets/mono-dataset](https://vision.in.tum.de/data/datasets/mono-dataset)","description_withheld":null,"homepage":"https://vision.in.tum.de/data/datasets/mono-dataset","introduced_date":"2016-01-01","introduced_date_note":null,"introduced_by":{"paper":"/paper/a-photometrically-calibrated-benchmark-for","title":"A Photometrically Calibrated Benchmark For Monocular Visual Odometry","first_author":"Jakob Engel","url":null},"license":null,"modalities":[{"name":"Images","url":"/datasets/modality/images"}],"tasks":[{"name":"task","url":null,"datasets_with_task":"/datasets/task/task"},{"name":"Visual Odometry","url":"/task/visual-odometry","datasets_with_task":"/datasets/task/visual-odometry"},{"name":"Simultaneous Localization and Mapping","url":"/task/simultaneous-localization-and-mapping","datasets_with_task":"/datasets/task/simultaneous-localization-and-mapping"},{"name":"Monocular Visual Odometry","url":"/task/monocular-visual-odometry","datasets_with_task":"/datasets/task/monocular-visual-odometry"}],"languages":[],"variants":["TUM monoVO"],"data_loaders":[],"num_papers_in_archive":11,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}