  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.
