Survey on Datasets for Perception in Unstructured Outdoor Environments
This survey addresses the need for better dataset selection and annotation compatibility in field robotics, but it is incremental as it compiles existing information without introducing new methods or data.
The authors surveyed and quantitatively compared publicly available datasets for perception tasks in unstructured outdoor environments, focusing on categorization and characteristics to aid practitioners in selecting appropriate datasets.
Perception is an essential component of pipelines in field robotics. In this survey, we quantitatively compare publicly available datasets available in unstructured outdoor environments. We focus on datasets for common perception tasks in field robotics. Our survey categorizes and compares available research datasets. This survey also reports on relevant dataset characteristics to help practitioners determine which dataset fits best for their own application. We believe more consideration should be taken in choosing compatible annotation policies across the datasets in unstructured outdoor environments.