theairlabcmucc-by-4.0

TartanGround

Name: TartanGround
Creator: theairlabcmu
License: cc-by-4.0
Keywords: rgb, depth, semantic_segmentation, optical_flow, stereo_disparity, lidar, imu, proprioception, point_cloud, navigation, semantic_occupancy_prediction, visual_slam, scene_representation, bird's_eye_view_prediction, simulation

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

Downloads32K
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Technical Profile

Modalities: rgbdepthsemantic_segmentationoptical_flowstereo_disparitylidarimuproprioceptionpoint_cloud
Robot Embodiments: omnidirectional_ground_robotdifferential_drivequadruped
Environment: simulation
Task Types: navigationsemantic_occupancy_predictionvisual_slamscene_representationbird's_eye_view_prediction
License: cc-by-4.0

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