mlsanityData to 7 Oct 2026

The S3LI Vulcano Dataset: A Dataset for Multi-Modal SLAM in Unstructured Planetary Environments

arXiv 2601.19557 ↗First posted 27 Jan 2026cs.CV cs.ROcited by 1

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Abstract (arXiv)

We release the S3LI Vulcano dataset, a multi-modal dataset towards development and benchmarking of Simultaneous Localization and Mapping (SLAM) and place recognition algorithms that rely on visual and LiDAR modalities. Several sequences are recorded on the volcanic island of Vulcano, from the Aeolian Islands in Sicily, Italy. The sequences provide users with data from a variety of environments, textures and terrains, including basaltic or iron-rich rocks, geological formations from old lava channels, as well as dry vegetation and water. The data (rmc.dlr.de/s3li_dataset) is accompanied by an open source toolkit (github.com/DLR-RM/s3li-toolkit) providing tools for generating ground truth poses as well as preparation of labelled samples for place recognition tasks.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 18 of its 48 references that are in the map. First posted on arXiv 27 Jan 2026.

Builds on

18 of 48 references.

References · 18

  1. 2017VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimatorcited by 418
  2. 2019The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Datasetcited by 133
  3. 20204Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Drivingcited by 51
  4. 2019A General Optimization-based Framework for Global Pose Estimation with Multiple Sensorscited by 41
  5. 2021M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robotscited by 23
  6. 2023SubT-MRS Dataset: Pushing SLAM Towards All-weather Environmentscited by 23
  7. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  8. 2023BotanicGarden: A High-Quality Dataset for Robot Navigation in Unstructured Natural Environmentscited by 21
  9. 2021The Hilti SLAM Challenge Datasetcited by 18
  10. 2022S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAMcited by 10
  11. 2022Challenges of SLAM in extremely unstructured environments: the DLR Planetary Stereo, Solid-State LiDAR, Inertial Datasetcited by 9
  12. 2025GO: The Great Outdoors Multimodal Datasetcited by 4
6 more
  1. 2025VSLAM-LAB: A Comprehensive Framework for Visual SLAM Methods and Datasetscited by 4
  2. 2021GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Mapscited by 3
  3. 2023Challenges of Indoor SLAM: A multi-modal multi-floor dataset for SLAM evaluationcited by 3
  4. 2024The GREENBOT dataset: Multimodal mobile robotic dataset for a typical Mediterranean greenhousecited by 3
  5. 2024Are We Ready for Planetary Exploration Robots? The TAIL-Plus Dataset for SLAM in Granular Environmentscited by 1
  6. 2024DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environmentscited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Visual Relocalization from Sparse Views in Aliased and Low-Texture Environments via Novel View Synthesiscited by 0