Datasets

Open Community Datasets

• ORNL ROAD dataset - NDSS poster, Paper
• Hacking and Countermeasure Research Laboratory (HCRL) @ Korea University - Website, Datasets
  • Car Hacking Dataset
  • CAN-intrusion-dataset (OTIDS)
  • CAN Signal Extraction and Translation Dataset
  • Survival Analysis Dataset for automobile IDS
  • KU-CISC2017-OTIDS
  • In-Vehicle Network Intrusion Detection Challenge
  • Automotive Ethernet Intrusion Dataset (AVTP, Audio Video Transport Protocol) (IEEE Dataport)
  • Car Hacking: Attack & Defense Challenge 2020
  • CAN-FD Intrusion Dataset
  • M-CAN Intrusion Dataset
  • B-CAN Intrusion Dataset
  • TOW-IDS: AUTOMOTIVE ETHERNET INTRUSION DATASET
  • X-CANIDS Dataset (In-Vehicle Signal Dataset)
• CSU (Jeremy Daily) Heavy Vehicle Cybersecurity and In-vehicle Networking Datasets - Website
  • Heavy vehicle CAN and J1939 data from various vehicles and operations - Datasets
  • Cybersecurity challenge exercises and data - Datasets
• ETAS/Bosch SynCAN Dataset by authors of CANet paper - Paper, IEEE Xplore
• TU Eindhoven
  • Automotive CAN Bus Intrusion Dataset - Direct link, DOI
  • Automotive CAN Bus Intrusion Dataset v2 - Direct link, DOI
• CrySyS Lab CAN-Log Infector and Ambient CAN Traces - Dataset
• Cephas Baretto Dataset - Dataset
• UPT ECUPrint Dataset - Paper, GitHub, Institution website
• Wes Hardaker Datasets
  • TESLA-battery-mileage-estimation-20221015 - Datasets
  • TESLA-Home-Network-two-weeks-20240101 - Datasets

Geotab Datasets

• PIVOT SPINDLE Program - Contact info@pivot-auto.org
• Geotab Altitude Program - Geotab website, ITS website, Altitude website

Industry Datasets

• Honda’s 99P Labs - Website
• Hyundai Open Data Platform - Website

Government Datasets

• U.S. Department of Transportation Open Data Catalog (data.transportation.gov) - Website
• U.S. Department of Transportation Connected Vehicle Pilots - Website, open data
  • Tampa-Hillsborough Expressway Authority (THEA) Pilot - Website
  • State of Wyoming Connected Vehicle Pilot - Website
• Smart Columbus Operating System - Website, Datasets

Transportation Datasets

• Canadian Urban Data Catalogue (CUDC), Urban Data Centre, University of Toronto - Catalog

Connected and Autonomous Vehicle Datasets

Mcity 2.0 Datasets - Website, Datasets

DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection - GitHub, Paper

V2X-Sim: A Comprehensive Synthetic Multi-agent Perception Dataset - Website

OpenCOOD: An Open COOperative Detection framework for autonomous driving - GitHub; and OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication - Website, Paper

MultiAgent, multitraveRSal (MARS) autonomous vehicle dataset - Paper, Website

Awesome SLAM Datasets – Website, GitHub

Categorized By Topic

Odometry (Dataset for odometry Benchmark)

• TUM-Visual-Inertial – Website
• Visual-Inertial Canoe Dataset – Dataset
• Multi Vehicle Stereo Event Camera Dataset – Website
• Zurich Urban Micro Aerial Vehicle Dataset – Website
• EuRoC MAV Dataset – Website
• TUM Monocular Cameras Dataset – Website
• Event-Camera Dataset and Simulator – Website
• TUM Omnidirectional Cameras Dataset – Website
• ICL-NUIM RGBD Dataset – Website
• TUM RGB-D SLAM Dataset and Benchmark – Website
• Google Cartographer – Website

Mapping (Daraset for mapping task)

• ACFR Marine Robotics Dataset – Website
• Challenging data sets for point cloud registration algorithms – Website
• Chilean Underground Mine Dataset – Website
• Complex Urban – Website
• Ford Campus Vision and Lidar Dataset – Website
• KITTI Vision Benchmark Suite – Website
• Málaga Stereo and Laser Urban Data Set – Website
• Multi-modal Panoramic 3D Outdoor Dataset (MPO) – Website, Website
• Oxford Robotcar Dataset – Website
• Underwater Caves SONAR and Vision Dataset – Website
• University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset – Website

Place Recognition (Daraset gives correspondences of places (images))

• Visual-Inertial Canoe Dataset – Dataset
• Symphony Lake Dataset – Website
• Alderley Day/Night Dataset – Website
• St Lucia Multiple Times of Day – Website
• New College Vision and Laser Data Set – Website
• FABMAP Dataset – Website

Localization (Dataset for metric-level localization)

• Cambridge Landmark Dataset – Paper
• KITTI Vision Benchmark Suite – Website
• Microsoft 7 scenes – Website
• San Francisco Landmark Dataset – Website

Perception (Dataset with semantic labels / correspondences)

• KAIST Day/Night Dataset – Website
• Robot @ Home Dataset – Website
• SceneNet RBG-D Dataset – Website
• Sugar Beets 2016, Agricultural Robot Dataset – Website
• CityScapes Dataset – Website
• KITTI Vision Benchmark Suite – Website
• Multi-Sensor Perception (Marulan) Dataset – Website

Categorized By Characteristics

Large-scale (City-scale map, kilometer level Map)

• Complex Urban – Website
• Multi Vehicle Stereo Event Camera Dataset – Website
• Multi-modal Panoramic 3D Outdoor Dataset (MPO) – Website
• CityScapes Dataset – Website
• Solar-powered UAV Sensing and Mapping Dataset – Website
• Oxford Robotcar Dataset – Website
• CCSAD (Stereo Urban) Dattaset
• Málaga Stereo and Laser Urban Data Set – Website
• KITTI Vision Benchmark Suite – Website
• Kagaru Airborn Stereo Dataset Dataset – Website
• ACFR Marine Robotics Dataset - [Website] (https://marine.acfr.usyd.edu.au/datasets/)

Long-term (Multi-session, long-term data collection)

• KAIST Day/Night Dataset – Website
• Visual-Inertial Canoe Dataset – Dataset
• Symphony Lake Dataset – Website
• Oxford Robotcar Dataset – Website
• University of Michigan North Campus Long-Term (NCLT) Vision and LIDAR Dataset – Website
• Alderley Day/Night Dataset – Website
• St Lucia Multiple Times of Day – Website

Map Complexity (Variation of mapping structures)

• Complex Urban – Website
• Multi Vehicle Stereo Event Camera Dataset – Website
• Multi-modal Panoramic 3D Outdoor Dataset (MPO) – Website
• Málaga Stereo and Laser Urban Data Set – Website
• KITTI Vision Benchmark Suite – Website
• Challenging data sets for point cloud registration algorithms – Website

Extreme Condition (Extreme environment, motions)

• Underwater Caves SONAR and Vision Dataset: Underwater Environment
• Chilean Underground Mine Dataset: Underground Environment
• CityScapes Dataset: Foggy Scene
• EuRoC MAV Dataset: Fast motion
• Multi-Sensor Perception (Marulan) Dataset: Smoky, dust, and Rain condition

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2022 OLD VERSION (Simultaneous Localization and Mapping)

• ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving – Paper
• Berkeley DeepDrive – Website, Paper
• Bosch Small Traffic Lights Dataset – Website
• Caltech Pedestrian Detection Benchmark – Website
• CCSAD Dataset – Dataset, Paper
• Cityscapes Dataset – Website, Overview
• comma.ai driving dataset – Dataset
• Comma2k19 – GitHub
• Daimler Urban Segmentation Dataset – Website
• DeepTesla – GitHub, [original github repo[(https://github.com/lexfridman/deeptesla), FloydHub and mounted dataset
• DIPLECS Autonomous Driving Datasets (2015) – Website, Dataset
• Ford Campus Vision and Lidar Data Set (rom Perceptual Robotics Laboratory (PERL) at U. Michigan – Website
• H3D Honda 3D Dataset – Website
• KIT Velodyne SLAM Dataset – Website, Paper
• KITTI Vision Benchmark Suite – Website, Dataset
• KUL Belgium Traffic Sign Dataset – Website
• Level 5 Open Data – Website
• Motion-based Segmentation and Recognition Dataset – Website
• LISA Datasets – Website, Dataset
• Mapillary Vistas Dataset – Website, Dataset
• MOLP – Paper
• nuScenes by Motional – Website
• Oxford RobotCar Dataset – Website
• Self-Racing Cars Dataset – Website
• SYNTHIA Dataset – Website
• Udacity Self-Driving Car – GitHub
• Waymo Open Dataset – Website

Please contact info@pivot-auto.org with any updates or additional datasets.