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Semantic SLAM datasets

archive 2025-07-28

10 datasets carry the task tag "Semantic SLAM" (the task itself: Semantic SLAM), ordered by the archive's paper count. Page 1 of 1: 10 shown of 10. Facet routes are this site's own (the archive records the tag string, not a page).

The archive holds 12,214 dataset rows; 12,172 are listed. 6 are withheld from every listing and count here as vandalised before snapshot (6 with contact-centre spam in the title, 0 with a spam description on a row that has no homepage, no paper and no papers counted; none with more than 1 paper, 0 with a benchmark), listed in withheld.json; 1 listed row carries a vandalised description, withheld on its page. This gate never withholds a row with a homepage or a paper that resolves, and a clean description; the content rules below withhold a row whose name is spam whatever else it carries. The gate is a phrase list: these are the rows it caught, not a claim that the rest is clean. Before that gate, the site's content rules withhold 36 more rows (invite-code, gambling, travel-booking, contact-centre and similar spam in the name or on a row with nothing real behind it); they have no page and are listed in withheld.json.

Filter 51 task tags shown of 3,717, by dataset count; the full filter by modality, task and language is on /datasets

All 12,172 Question Answering 413Semantic Segmentation 347Object Detection 332Image Classification 283Classification 222Text Classification 167Language Modelling 166Text Generation 162Visual Question Answering (VQA) 144Named Entity Recognition (NER) 130Pose Estimation 124Anomaly Detection 119Action Recognition 115Instance Segmentation 111Sentiment Analysis 104Text Summarization 98Domain Adaptation 96Speech Recognition 96Reading Comprehension 95Information Retrieval 932D Object Detection 92Image Retrieval 87Machine Translation 82Relation Extraction 822D Semantic Segmentation 81Natural Language Inference 81Image Captioning 79Image Generation 79Depth Estimation 77Node Classification 75Natural Language Understanding 72Autonomous Driving 70Code Generation 70Object Tracking 693D Object Detection 67Face Recognition 67Link Prediction 67Person Re-Identification 65Data Augmentation 63Multi-Task Learning 593D Reconstruction 58Common Sense Reasoning 56Recommendation Systems 56Video Understanding 56Optical Character Recognition (OCR) 55Graph Classification 54Abstractive Text Summarization 52Emotion Recognition 52Medical Image Segmentation 52Word Embeddings 52Semantic SLAM 10

Semantic SLAM datasets 1–10 of 10

KITTI-360
KITTI-360 is a large-scale dataset that contains rich sensory information and full annotations.
ImagesLiDARSemantic Segmentation2D Semantic SegmentationInstance SegmentationPanoptic SegmentationNovel View Synthesis3D Semantic Segmentation+6 tasks
246 papers · 7 benchmarks
TUM RGB-D
TUM RGB-D is an RGB-D dataset.
ImagesRGB-DDepth EstimationVisual OdometrySimultaneous Localization and MappingSemantic SLAM
235 papers · 1 benchmark
ViViD++ (Vision for Visibility Dataset)
A dataset capturing diverse visual data formats that target varying luminance conditions, and was recorded from alternative vision sensors, by handheld or mounted on a car, repeatedly in the same space but in different conditions.
Images3DRGB-DRGB VideoLiDARSemantic SLAM
17 papers · 0 benchmarks
WildScenes
WildScenes is a bi-modal benchmark dataset consisting of multiple large-scale, sequential traversals in natural environments, including semantic annotations in high-resolution 2D images and dense 3D LiDAR point clouds, and accurate 6-DoF…
ImagesPoint cloudLiDARSemantic Segmentation2D Semantic Segmentation3D Semantic SegmentationImage SegmentationLIDAR Semantic SegmentationSemantic SLAM+1 tasks
12 papers · 2 benchmarks
Bonn RGB-D Dynamic
Bonn RGB-D Dynamic is a dataset for RGB-D SLAM, containing highly dynamic sequences.
RGB-DSimultaneous Localization and MappingSemantic SLAM
9 papers · 1 benchmark
DTTD-Mobile
Are current 3D object tracking methods truely robust enough for low-fidelity depth sensors like the iPhone LiDAR?
ImagesVideos3DObject DetectionSemantic Segmentation2D Semantic Segmentation3D Object DetectionDepth EstimationMulti-Object Tracking+13 tasks
8 papers · 2 benchmarks
SLAM2REF (ConSLAM BIM and GT Poses)
This dataset comprehends the 3D building information model (in IFC and Revit formats), manually elaborated based on the terrestrial laser scanner of the sequence 2 of ConSLAM, and the refined ground truth (GT) poses (in TUM format) of…
3DCad6DTrackingPose EstimationPose TrackingCamera Localization2D Pose EstimationVisual Odometry6D Pose Estimation+12 tasks
2 papers · 0 benchmarks
TorWIC (The Toronto Warehouse Incremental Change Dataset)
TorWIC is the dataset discussed in POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes.
RGB-DLiDARSimultaneous Localization and MappingSemantic SLAMObject SLAM
2 papers · 0 benchmarks
ConSLAM (Construction Dataset for SLAM)
ConSLAM is a real-world dataset collected periodically on a construction site to measure the accuracy of mobile scanners' SLAM algorithms.
Videos3DPoint cloudTrackingRGB VideoLiDARPose EstimationDepth EstimationPose TrackingCamera Localization2D Pose EstimationVisual Odometry+12 tasks
1 paper · 0 benchmarks
ConsInv Dataset
ConsInv is a stereo RGB + IMU dataset designed for Dynamic SLAM testing and contains two subsets: - ConsInv-Indoors contains sequences in an office setting where small objects are moved.
ImagesStereoRGB VideoVisual OdometrySemantic SLAMMonocular Visual OdometryObject SLAM
1 paper · 0 benchmarks

Paper counts and descriptions are the archive's, frozen 2025-07-28; no citation counts, no stars, no trending. Sorting by "most cited" or "newest" was a live-site feature the archive does not carry.