Urban Place Recognition Dataset

This dataset provides visual and inertial information as well as manually-​annotated ground-​truth for sequences specifically captured for place recognition tasks, outdoors in urban scenes. The recordings were made with a side-​looking camera using hand-​held setups at different heights, as well as with the help of a drone, visiting the same scene at different times of the day and the year. As a result, this dataset poses significant challenges in viewpoint, illumination and situational changes.

All the sequences were recorded using a high quality visual-​inertial sensor providing monocular, grayscale, global-​shutter images at 20 Hz and time-​synchronized inertial measurements. This dataset is freeley available and can be downloaded from here.

Users of this dataset are asked to cite the following paper, where it was originally presented:

Fabiola Maffra, Zetao Chen and Margarita Chli, “Viewpoint-​tolerant Place Recognition combining 2D and 3D information for UAV navigation”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. DOI E-​citations

V4RL

The Vision for Robotics Laboratory focuses on robotic vision-based perception. The group works with small Unmanned Aerial Vehicles (UAVs) in particular, as they are some of the most challenging robotic platforms, however, our research can be applied on any robot in need of perceiving its motion and/or workspace.

Contact

LEE H 304
Vision for Robotics Lab, IRIS, D-MAVT
ETH Zurich
Leonhardstrasse 21
CH-8092 Zurich
Switzerland

Tel: +41 (0)44 632 0838
Fax: +41 (0)44 632 1181
Email: chlim (at) ethz.ch

© Copyright – V4RL 2024.
  • Andorra +376
  • United arab emirates +971
  • Afghanistan +93
  • Antigua and barbuda +1268
  • Anguilla +1264
  • Albania +355
  • Armenia +374
  • Angola +244
  • Antarctica +672
  • Argentina +54
  • American samoa +1684
  • Austria +43
  • Australia +61
  • Aruba +297
  • Azerbaijan +994
  • Bosnia and herzegovina +387
  • Barbados +1246
  • Bangladesh +880
  • Belgium +32
  • Burkina faso +226
  • Bulgaria +359
  • Bahrain +973
  • Burundi +257
  • Benin +229
  • Saint barthelemy +590
  • Bermuda +1441
  • Brunei darussalam +673
  • Bolivia +591
  • Brazil +55
  • Bahamas +1242
  • Bhutan +975
  • Botswana +267
  • Belarus +375
  • Belize +501
  • Canada +1
  • Cocos (keeling) islands +61
  • Congo, the democratic republic of the +243
  • Central african republic +236
  • Congo +242
  • Switzerland +41
  • Cote d ivoire +225
  • Cook islands +682
  • Chile +56
  • Cameroon +237
  • China +86
  • Colombia +57
  • Costa rica +506
  • Cuba +53
  • Cape verde +238
  • Christmas island +61
  • Cyprus +357
  • Czech republic +420
  • Germany +49
  • Djibouti +253
  • Denmark +45
  • Dominica +1767
  • Dominican republic +1809
  • Algeria +213
  • Ecuador +593
  • Estonia +372
  • Egypt +20
  • Eritrea +291
  • Spain +34
  • Ethiopia +251
  • Finland +358
  • Fiji +679
  • Falkland islands (malvinas) +500
  • Micronesia, federated states of +691
  • Faroe islands +298
  • France +33
  • Gabon +241
  • United kingdom +44
  • Grenada +1473
  • Georgia +995
  • Ghana +233
  • Gibraltar +350
  • Greenland +299
  • Gambia +220
  • Guinea +224
  • Equatorial guinea +240
  • Greece +30
  • Guatemala +502
  • Guam +1671
  • Guinea-bissau +245
  • Guyana +592
  • Hong kong +852
  • Honduras +504
  • Croatia +385
  • Haiti +509
  • Hungary +36
  • Indonesia +62
  • Ireland +353
  • Israel +972
  • Isle of man +44
  • India +91
  • Iraq +964
  • Iran, islamic republic of +98
  • Iceland +354
  • Italy +39
  • Jamaica +1876
  • Jordan +962
  • Japan +81
  • Kenya +254
  • Kyrgyzstan +996
  • Cambodia +855
  • Kiribati +686
  • Comoros +269
  • Saint kitts and nevis +1869
  • Korea democratic peoples republic of +850
  • Korea republic of +82
  • Kuwait +965
  • Cayman islands +1345
  • Kazakstan +7
  • Lao peoples democratic republic +856
  • Lebanon +961
  • Saint lucia +1758
  • Liechtenstein +423
  • Sri lanka +94
  • Liberia +231
  • Lesotho +266
  • Lithuania +370
  • Luxembourg +352
  • Latvia +371
  • Libyan arab jamahiriya +218
  • Morocco +212
  • Monaco +377
  • Moldova, republic of +373
  • Montenegro +382
  • Saint martin +1599
  • Madagascar +261
  • Marshall islands +692
  • Macedonia, the former yugoslav republic of +389
  • Mali +223
  • Myanmar +95
  • Mongolia +976
  • Macau +853
  • Northern mariana islands +1670
  • Mauritania +222
  • Montserrat +1664
  • Malta +356
  • Mauritius +230
  • Maldives +960
  • Malawi +265
  • Mexico +52
  • Malaysia +60
  • Mozambique +258
  • Namibia +264
  • New caledonia +687
  • Niger +227
  • Nigeria +234
  • Nicaragua +505
  • Netherlands +31
  • Norway +47
  • Nepal +977
  • Nauru +674
  • Niue +683
  • New zealand +64
  • Oman +968
  • Panama +507
  • Peru +51
  • French polynesia +689
  • Papua new guinea +675
  • Philippines +63
  • Pakistan +92
  • Poland +48
  • Saint pierre and miquelon +508
  • Pitcairn +870
  • Puerto rico +1
  • Portugal +351
  • Palau +680
  • Paraguay +595
  • Qatar +974
  • Romania +40
  • Serbia +381
  • Russian federation +7
  • Rwanda +250
  • Saudi arabia +966
  • Solomon islands +677
  • Seychelles +248
  • Sudan +249
  • Sweden +46
  • Singapore +65
  • Saint helena +290
  • Slovenia +386
  • Slovakia +421
  • Sierra leone +232
  • San marino +378
  • Senegal +221
  • Somalia +252
  • Suriname +597
  • Sao tome and principe +239
  • El salvador +503
  • Syrian arab republic +963
  • Swaziland +268
  • Turks and caicos islands +1649
  • Chad +235
  • Togo +228
  • Thailand +66
  • Tajikistan +992
  • Tokelau +690
  • Timor-leste +670
  • Turkmenistan +993
  • Tunisia +216
  • Tonga +676
  • Turkey +90
  • Trinidad and tobago +1868
  • Tuvalu +688
  • Taiwan, province of china +886
  • Tanzania, united republic of +255
  • Ukraine +380
  • Uganda +256
  • United states +1
  • Uruguay +598
  • Uzbekistan +998
  • Holy see (vatican city state) +39
  • Saint vincent and the grenadines +1784
  • Venezuela +58
  • Virgin islands, british +1284
  • Virgin islands, u.s. +1340
  • Viet nam +84
  • Vanuatu +678
  • Wallis and futuna +681
  • Samoa +685
  • Kosovo +381
  • Yemen +967
  • Mayotte +262
  • South africa +27
  • Zambia +260
  • Zimbabwe +263