GrandTour: A legged robotics dataset in the wild for multi-modal perception and state estimation
GrandTour: A legged robotics dataset in the wild for multi-modal perception and state estimation
The GrandTour dataset addresses the lack of large-scale, real-world legged-robot data by providing time-synchronized sensor data from multiple modalities, including LiDAR, RGB cameras, depth sensors, and GNSS. It supports research in SLAM, state estimation, and multi-modal learning, with data available in ROS and HuggingFace formats.
Full article
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The GrandTour dataset provides a comprehensive, multi-modal collection of sensor data from a quadruped robot in diverse real-world environments, supporting research in state estimation, SLAM, and sensor fusion. It is the largest open-access legged-robotics dataset to date, available in multiple formats and platforms.
Evidence and limits
Published automatically after robotics and source-evidence checks; no manual editorial approval is recorded. Source assertions are not independently verified. Missing information remains not reported.
| Metric | Value / unit | Basis / context | Evidence |
|---|---|---|---|
| number of environments | 4 other | Basis not reported Source wording: “from alpine scenery and forests to demolished buildings and urban areas” | Source E1 |
| number of test sites | 4 other | Basis not reported Source wording: “from alpine scenery and forests to demolished buildings and urban areas” | Source E1 |
| number of sensor types | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of cameras | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED23i stereo RGB-D camera” | Source E1 |
| number of sensor types | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of cameras | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of sensor types | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of cameras | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of sensor types | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
| number of cameras | 7 other | Basis not reported Source wording: “spinning LiDARs, multiple RGB cameras with complementary characteristics, proprioceptive sensors, six ANYmal-mounted Intel RealSense D435i depth cameras, and the ZED2i stereo RGB-D camera” | Source E1 |
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
- dataset: Available Artifact linkSource E1
Dataset details
- License
- Not reported
- Version
- Not reported
- Modalities
- Not reported
- Tasks
- Not reported
- Embodiments
- Not reported
Source excerpts and review record
No manual editorial approval recorded.
Original source quotation: “Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments.”
Source E1
Source：International Journal of Robotics Research — Journal metadata · doi.org