Tum
RGB-D SLAM Dataset and Benchmark
https://vision.in.tum.de/data/datasets/rgbd-dataset
Kitti
http://www.cvlibs.net/datasets/kitti/index.php
CMU
Dataset collected using the Navlab 11 equipped with IMU, GPS, Lidars and cameras
http://3dvis.ri.cmu.edu/data-sets/localization/
ETH
The EuRoC MAV Dataset
This web page presents visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth.
https://projects.asl.ethz.ch/datasets/doku.php
Liu Computer Vision Lab
林雪平大学计算机视觉实验室数据集 包含
AMUSE
GoPro IMU Dataset
GoPro Gyro Dataset
Kinect v2 Dataset
LTIR
Object Pose Estimation Database
PASSTA Datasets
Rolling Shutter Rectification Dataset
Rolling Shutter Bundle Adjustment Dataset
Swedish Leaf Dataset
Traffic Signs Dataset
TST-Priv
Video Stacking Dataset
http://www.cvl.isy.liu.se/en/research/datasets/gopro-imu-dataset/
明德学院双目匹配数据集
http://vision.middlebury.edu/stereo/data/
Oxford Robotcar data
https://robotcar-dataset.robots.ox.ac.uk/
包含同一辆车中，多目相机，鱼眼相机，激光雷达和GPS数据
opensource tool
MRPT
Mobile Robot Programming Toolkit provides developers with portable and well-tested applications and libraries covering data structures and algorithms employed in common robotics research areas. It is open source, released under the BSD license.
https://www.mrpt.org/