Datasets
evalio comes with a variety of datasets that can be used for easy loading. Below is a table of all datasets that are included, which mirrors the output of evalio ls datasets.
| Name | Sequences | Len | Env | Vehicle | IMU | LiDAR | Info |
|---|---|---|---|---|---|---|---|
| newer_college_2020 | short_experiment long_experiment quad_with_dynamics dynamic_spinning parkland_mound |
25.5min 44.3min ‑ ‑ 8.3min |
Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus |
Handheld Handheld Handheld Handheld Handheld |
TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 |
Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 |
link |
| helipr | kaist_05 kaist_06 dcc_05 dcc_06 riverside_05 riverside_06 |
20.8min 20.3min 18.0min 17.9min 14.3min 19.9min |
Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving |
Car Car Car Car Car Car |
Xsens MTi‑300 Xsens MTi‑300 Xsens MTi‑300 Xsens MTi‑300 Xsens MTi‑300 Xsens MTi‑300 |
Ouster OS2‑128 Ouster OS2‑128 Ouster OS2‑128 Ouster OS2‑128 Ouster OS2‑128 Ouster OS2‑128 |
link |
| botanic_garden | b1005_00 b1005_01 b1005_07 b1006_01 b1008_03 b1018_00 b1018_13 |
9.7min 7.9min 9.1min 12.4min 10.5min 2.4min 3.5min |
Botanic Garden Botanic Garden Botanic Garden Botanic Garden Botanic Garden Botanic Garden Botanic Garden |
ATV ATV ATV ATV ATV ATV ATV |
Xsens MTi‑680G Xsens MTi‑680G Xsens MTi‑680G Xsens MTi‑680G Xsens MTi‑680G Xsens MTi‑680G Xsens MTi‑680G |
Velodyne VLP‑16 Velodyne VLP‑16 Velodyne VLP‑16 Velodyne VLP‑16 Velodyne VLP‑16 Velodyne VLP‑16 Velodyne VLP‑16 |
link |
| cumulti | kittredge_loop_robot1 kittredge_loop_robot2 kittredge_loop_robot3 kittredge_loop_robot4 main_campus_robot1 main_campus_robot2 main_campus_robot3 main_campus_robot4 |
23.2min 20.6min 28.1min 42.6min 16.7min 18.6min 34.8min 46.2min |
CU Boulder Campus CU Boulder Campus CU Boulder Campus CU Boulder Campus CU Boulder Campus CU Boulder Campus CU Boulder Campus CU Boulder Campus |
ATV ATV ATV ATV ATV ATV ATV ATV |
MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 MicroStrain 3DM‑GQ7 |
Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) Ouster OS‑64 (Rev 7) |
link |
| enwide | field_d field_s intersection_d intersection_s katzensee_d katzensee_s runway_d runway_s tunnel_d tunnel_s |
2.5min 2.8min 3.0min 3.3min 1.4min 2.7min 3.2min 3.7min 2.0min 4.0min |
Field Field Planar Road Planar Road Field Field Planar Road Planar Road Tunnel Tunnel |
Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld |
TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT TDK IAM‑20680HT |
Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 Ouster OS0‑128 |
link |
| hilti_2022 | construction_upper_level_1 construction_upper_level_2 construction_upper_level_3 basement_2 attic_to_upper_gallery_2 corridor_lower_gallery_2 |
2.1min 2.1min 2.5min 1.2min 3.3min 1.8min |
Indoor Indoor Indoor Indoor Indoor Indoor |
Handheld Handheld Handheld Handheld Handheld Handheld |
Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 |
Hesai PandarXT‑32 Hesai PandarXT‑32 Hesai PandarXT‑32 Hesai PandarXT‑32 Hesai PandarXT‑32 Hesai PandarXT‑32 |
link |
| multi_campus | ntu_day_01 ntu_day_02 ntu_day_10 ntu_night_04 ntu_night_08 ntu_night_13 kth_day_06 kth_day_09 kth_day_10 kth_night_01 kth_night_04 kth_night_05 tuhh_day_02 tuhh_day_03 tuhh_day_04 tuhh_night_07 tuhh_night_08 tuhh_night_09 |
10.0min 3.8min 5.4min 4.9min 7.8min 3.9min 14.9min 12.8min 10.3min 16.1min 12.4min 11.1min 8.3min 14.0min 3.1min 7.4min 11.8min 3.1min |
NTU Campus NTU Campus NTU Campus NTU Campus NTU Campus NTU Campus KTH Campus KTH Campus KTH Campus KTH Campus KTH Campus KTH Campus TUHH Campus TUHH Campus TUHH Campus TUHH Campus TUHH Campus TUHH Campus |
ATV ATV ATV ATV ATV ATV Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld |
VectorNav VN‑100 VectorNav VN‑100 VectorNav VN‑100 VectorNav VN‑100 VectorNav VN‑100 VectorNav VN‑100 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 VectorNav VN‑200 |
Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 Ouster OS1‑64 |
link |
| newer_college_2021 | quad_easy quad_medium quad_hard stairs cloister park maths_easy maths_medium maths_hard |
3.3min 3.2min 3.1min 2.0min 4.6min 26.2min 3.6min 3.0min 4.1min |
Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus Oxford Campus |
Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld Handheld |
TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 TDK ICM‑20948 |
Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 Ouster OS1‑128 |
link |
| oxford_spires | blenheim_palace_01 blenheim_palace_02 blenheim_palace_05 bodleian_library_02 christ_church_01 christ_church_02 christ_church_03 christ_church_05 keble_college_02 keble_college_03 keble_college_04 observatory_quarter_01 observatory_quarter_02 |
6.8min 6.1min 5.7min 8.3min 9.6min 9.9min 5.2min 13.3min 5.0min 4.8min 3.0min 4.8min 4.6min |
Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Indoor & Oxford Campus Oxford Campus Oxford Campus |
Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack Backpack |
Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 Bosch BMI085 |
Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 Hesai QT‑64 |
link |
| fomo | blue_25_03 green_25_03 magenta_25_03 orange_25_03 red_25_03 yellow_25_03 blue_25_08 green_25_08 magenta_25_08 orange_25_08 red_25_08 yellow_25_08 |
9.6min 7.6min 12.1min 39.2min 3.5min 32.9min 5.8min 13.6min 12.0min 28.0min 3.2min 21.5min |
Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road Off‑road |
Car Car Car Car Car Car Car Car Car Car Car Car |
VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 VectorNav VN100 |
Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ Robosense Ruby+ |
link |
| boreas_rt | glen_2024_12_03_12_54 glen_2025_01_08_11_22 glen_2025_02_15_17_19 industrial_2024_12_05_14_12 industrial_2024_12_23_16_27 industrial_2024_12_23_16_44 skyway_2024_12_04_11_45 skyway_2024_12_04_12_08 skyway_2024_12_04_12_34 tunnel_2024_12_04_14_28 tunnel_2024_12_04_14_50 tunnel_2024_12_04_15_19 farm_2025_07_18_14_55 farm_2025_07_18_15_30 farm_2025_08_13_09_01 |
15.8min 15.9min 18.5min 10.6min 15.3min 15.0min 9.4min 9.5min 9.3min 4.6min 2.9min 3.6min 13.6min 14.1min 18.0min |
Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving Urban Driving |
Car Car Car Car Car Car Car Car Car Car Car Car Car Car Car |
SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 SS DMU41 |
Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 |
link |
| boreas | glen_2021_09_02_11_42 glen_2020_11_26_13_58 glen_2021_03_23_12_43 glen_2021_07_20_17_33 |
16.6min 16.6min 16.1min 18.1min |
Urban Driving Urban Driving Urban Driving Urban Driving |
Car Car Car Car |
Applanix IMU‑42 Applanix IMU‑42 Applanix IMU‑42 Applanix IMU‑42 |
Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 Velodyne VLS‑128 |
link |