Oxford Multimotion Dataset

Oxford Multimotion Dataset 2018-09-20T18:57:11+00:00

Welcome to the Oxford Multimotion Dataset. The data are hosted on Google Drive (no sign-in required) and are accessible from either the web folder or the individual file links below.


  1. Documentation
  2. Calibration
  3. Data segments
    1. Primary
    2. Secondary


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Full documentation of the dataset is available in the associated RA-L submission. Please cite the dataset as:

  • [PDF] K. M. Judd and J. D. Gammell, “The Oxford Multimotion Dataset: Multiple SE(3) Motions with Ground Truth,” Submitted to IEEE Robotics and Automation Letters (RA-L), Manuscript #18-0995, 2018.
    Title = {The {Oxford} {Multimotion} {Dataset}: Multiple {SE(3)} Motions with Ground Truth},
    Author = {Kevin M Judd and Jonathan D Gammell},
    Journal = {},
    Year = {2018},
    institution = {Submitted to IEEE Robotics and Automation Letters (RA-L)},
    number = {Manuscript #18-0995},
    Pdf = {https://drive.google.com/uc?export=download&id=1qEDs_Qsj58hKqxD0XtHXTl78a6sujrD5},


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  1. Camera intrinsics (Manufacturers): mnfr.yaml
  2. Camera intrinsics & extrinsics (Kalibr): kalibr.yaml
  3. Camera to Vicon frame: vicon.yaml

Primary Data Segments

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Secondary Data Segments

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