About LaMAria

Training Sequences
Test Sequences

LaMAria is a city-scale egocentric SLAM dataset that provides sequences captured in various challenging environments. We offer 23 training and 63 test sequences. The training and test sequences include sequence and calibration data in the formats discussed in the documentation. The sparse and pseudo-dense ground truth files are provided for the training sequences and kept closed for the test sequences. You can submit your results for both training and test sequences for evaluation via this website.

The tables below summarize the dataset contents. To watch a sped-up, downscaled preview of each sequence, click on the sequence name. Individual sequence data can be downloaded from the links given below. We provide a Python script download_lamaria.py for convenience in data download.


Training Sequences

Name Set Level/Challenge #CPs sort Len (km) sort Dur (min) sort Download
Controlled Experimental Set I - 0.16 2.41
Controlled Experimental Set I - 0.18 2.48
Controlled Experimental Set I - 0.20 2.64
Controlled Experimental Set II - 0.32 4.38
Controlled Experimental Set II - 0.47 5.13
Controlled Experimental Set II - 0.62 6.51
Controlled Experimental Set II - 0.60 6.67
Controlled Experimental Set III - 0.75 10.27
Controlled Experimental Set III - 0.94 13.01
Controlled Experimental Set III - 1.34 15.60
Controlled Experimental Set IV 5 0.48 7.96
Controlled Experimental Set IV 10 1.01 16.90
Controlled Experimental Set IV 15 1.17 23.44
Additional Set Short 14 1.53 15.31
Additional Set Short 13 1.72 16.90
Additional Set Medium 18 2.05 19.80
Additional Set Medium 20 3.07 27.95
Additional Set Long 27 3.09 29.90
Additional Set Long 24 2.74 28.25
Additional Set Low light 16 2.23 23.70
Additional Set Low light 15 1.79 18.80
Additional Set Moving platform 14 1.76 18.76
Additional Set Moving platform 18 ~ 1.90 22.23

Test Sequences

Name Set Level/Challenge #CPs sort Len (km) sort Dur (min) sort Download
Main Dataset Short 12 1.16 15.97
Main Dataset Short 15 1.43 21.95
Main Dataset Short 13 1.05 17.95
Main Dataset Short 15 1.63 23.77
Main Dataset Short 12 0.59 15.10
Main Dataset Short 11 0.94 18.52
Main Dataset Short 14 1.00 19.15
Main Dataset Short 14 0.85 17.92
Main Dataset Short 13 0.81 16.92
Main Dataset Short 15 0.90 19.87
Main Dataset Short 14 0.78 12.48
Main Dataset Short 13 1.04 19.00
Main Dataset Short 14 1.16 21.38
Main Dataset Short 15 1.19 20.03
Main Dataset Short 14 1.01 18.67
Main Dataset Short 14 1.14 19.15
Main Dataset Short 15 1.09 18.38
Main Dataset Short 5 0.48 5.60
Main Dataset Medium 21 1.65 28.42
Main Dataset Medium 22 1.74 28.27
Main Dataset Medium 17 1.31 22.18
Main Dataset Medium 19 1.88 29.23
Main Dataset Medium 20 1.87 28.33
Main Dataset Medium 16 1.62 24.22
Main Dataset Medium 16 1.53 22.25
Main Dataset Medium 16 0.69 13.35
Main Dataset Medium 18 1.42 24.87
Main Dataset Medium 18 1.27 21.15
Main Dataset Long 27 1.84 33.40
Main Dataset Long 26 1.67 28.53
Main Dataset Long 26 1.79 33.87
Main Dataset Long 27 1.85 31.47
Main Dataset Long 27 1.79 29.27
Main Dataset Long 27 1.71 29.78
Main Dataset Long 25 1.35 30.62
Main Dataset Long 30 2.60 42.83
Main Dataset Long 26 2.13 36.42
Main Dataset Long 28 2.87 48.00
Main Dataset Long 27 2.35 40.63
Main Dataset Long 28 2.40 37.27
Main Dataset Long 26 2.35 35.70
Main Dataset Long 26 1.98 32.05
Main Dataset Long 26 2.30 37.37
Main Dataset Long 27 2.42 37.52
Main Dataset Low light 30 1.95 34.93
Main Dataset Low light 16 1.64 26.75
Main Dataset Low light 14 1.29 23.07
Main Dataset Low light 16 1.58 26.20
Main Dataset Low light 15 1.53 25.50
Main Dataset Low light 15 0.90 18.68
Main Dataset Low light 16 0.95 20.70
Main Dataset Low light 14 1.21 22.02
Main Dataset Low light 13 0.87 15.77
Main Dataset Moving platform 25 2.41 39.93
Main Dataset Moving platform 27 2.33 32.32
Main Dataset Moving platform 27 2.22 41.05
Main Dataset Moving platform 22 2.17 27.92
Main Dataset Moving platform 27 ~ 2.17 35.20
Main Dataset Moving platform 29 ~ 2.23 41.43
Main Dataset Moving platform 15 ~ 1.10 20.62
Main Dataset Moving platform 15 1.08 21.12
Main Dataset Moving platform 15 2.25 24.65
Main Dataset Moving platform 16 2.04 26.60