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.

翻译：感知是现场机器人技术流程中的关键组成部分。本综述对非结构化户外环境中的公开可用数据集进行了定量比较，重点关注现场机器人常见感知任务的数据集。研究对现有研究数据集进行归类与对比，并报告数据集的相关特征，以帮助从业者确定最适合自身应用的数据集。我们认为，在非结构化户外环境中选择兼容的标注策略时需更加审慎。