{"url":"/dataset/vbr","name":"VBR","full_name":"VBR: A Vision Benchmark in Rome","description_markdown":"This dataset presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visual odometry and SLAM, to advance the research in autonomous robotics and computer vision. This work complements existing datasets by simultaneously addressing several issues, such as environment diversity, motion patterns, and sensor frequency. It uses up-to-date devices and presents effective procedures to accurately calibrate the intrinsic and extrinsic of the sensors while addressing temporal synchronization. During recording, we cover multi-floor buildings, gardens, urban and highway scenarios. Combining handheld and car-based data collections, our setup can simulate any robot (quadrupeds, quadrotors, autonomous vehicles). The dataset includes an accurate 6-dof ground truth based on a novel methodology that refines the RTK-GPS estimate with LiDAR point clouds through Bundle Adjustment. All sequences divided in training and testing are accessible through our website.","description_withheld":null,"homepage":"https://rvp-group.net/slam-dataset.html","introduced_date":"2024-04-17","introduced_date_note":null,"introduced_by":{"paper":"/paper/vbr-a-vision-benchmark-in-rome","title":"VBR: A Vision Benchmark in Rome","first_author":"Leonardo Brizi","url":null},"license":{"name":"CC BY-SA 4.0 DEED","url":"https://creativecommons.org/licenses/by-sa/4.0/deed.en"},"modalities":[{"name":"3D","url":"/datasets/modality/3d"},{"name":"Point cloud","url":"/datasets/modality/point-cloud"},{"name":"Tracking","url":"/datasets/modality/tracking"},{"name":"Stereo","url":"/datasets/modality/stereo"},{"name":"RGB Video","url":"/datasets/modality/rgb-video"},{"name":"LiDAR","url":"/datasets/modality/lidar"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"Visual Place Recognition","url":"/task/visual-place-recognition","datasets_with_task":"/datasets/task/visual-place-recognition"},{"name":"3D Reconstruction","url":"/task/3d-reconstruction","datasets_with_task":"/datasets/task/3d-reconstruction"},{"name":"Point Cloud Registration","url":"/task/point-cloud-registration","datasets_with_task":"/datasets/task/point-cloud-registration"},{"name":"Monocular Depth Estimation","url":"/task/monocular-depth-estimation","datasets_with_task":"/datasets/task/monocular-depth-estimation"},{"name":"Novel View Synthesis","url":"/task/novel-view-synthesis","datasets_with_task":"/datasets/task/novel-view-synthesis"},{"name":"Visual Tracking","url":"/task/visual-tracking","datasets_with_task":"/datasets/task/visual-tracking"},{"name":"Pose Tracking","url":"/task/pose-tracking","datasets_with_task":"/datasets/task/pose-tracking"},{"name":"Optical Flow Estimation","url":"/task/optical-flow-estimation","datasets_with_task":"/datasets/task/optical-flow-estimation"},{"name":"Stereo Image Super-Resolution","url":"/task/stereo-image-super-resolution","datasets_with_task":"/datasets/task/stereo-image-super-resolution"},{"name":"Visual Odometry","url":"/task/visual-odometry","datasets_with_task":"/datasets/task/visual-odometry"},{"name":"3D Pose Estimation","url":"/task/3d-pose-estimation","datasets_with_task":"/datasets/task/3d-pose-estimation"},{"name":"Stereo Depth Estimation","url":"/task/stereo-depth-estimation","datasets_with_task":"/datasets/task/stereo-depth-estimation"},{"name":"Scene Flow Estimation","url":"/task/scene-flow-estimation","datasets_with_task":"/datasets/task/scene-flow-estimation"},{"name":"Visual Localization","url":"/task/visual-localization","datasets_with_task":"/datasets/task/visual-localization"},{"name":"Image Registration","url":"/task/image-registration","datasets_with_task":"/datasets/task/image-registration"},{"name":"Vehicle Pose Estimation","url":"/task/vehicle-pose-estimation","datasets_with_task":"/datasets/task/vehicle-pose-estimation"},{"name":"Point Cloud Completion","url":"/task/point-cloud-completion","datasets_with_task":"/datasets/task/point-cloud-completion"},{"name":"Stereo Disparity Estimation","url":"/task/stereo-disparity-estimation","datasets_with_task":"/datasets/task/stereo-disparity-estimation"},{"name":"3D Place Recognition","url":"/task/3d-place-recognition","datasets_with_task":"/datasets/task/3d-place-recognition"},{"name":"Point Cloud Super Resolution","url":"/task/point-cloud-super-resolution","datasets_with_task":"/datasets/task/point-cloud-super-resolution"},{"name":"Stereo-LiDAR Fusion","url":"/task/stereo-lidar-fusion","datasets_with_task":"/datasets/task/stereo-lidar-fusion"},{"name":"Vehicle Speed Estimation","url":"/task/vehicle-speed-estimation","datasets_with_task":"/datasets/task/vehicle-speed-estimation"},{"name":"Image to Point Cloud Registration","url":"/task/image-to-point-cloud-registration","datasets_with_task":"/datasets/task/image-to-point-cloud-registration"},{"name":"Motion Estimation","url":"/task/motion-estimation","datasets_with_task":"/datasets/task/motion-estimation"},{"name":"Monocular Visual Odometry","url":"/task/monocular-visual-odometry","datasets_with_task":"/datasets/task/monocular-visual-odometry"},{"name":"Stereo Matching","url":"/task/stereo-matching-1","datasets_with_task":"/datasets/task/stereo-matching-1"},{"name":"Image to 3D","url":"/task/image-to-3d","datasets_with_task":"/datasets/task/image-to-3d"},{"name":"Novel LiDAR View Synthesis","url":"/task/novel-lidar-view-synthesis","datasets_with_task":"/datasets/task/novel-lidar-view-synthesis"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["VBR"],"data_loaders":[{"repo":"https://github.com/rvp-group/vbr-devkit","url":"https://github.com/rvp-group/vbr-devkit","frameworks":[]}],"num_papers_in_archive":3,"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."}