RGB-D Datasets
Last updated
Last updated
paper: 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions, CVPR 2017
website: https://3dmatch.cs.princeton.edu/
notes: deep learning
paper: A Large-Scale Hierarchical Multi-View RGB-D Object Dataset, ICRA 2011
Each scene is a folder containing one or more RGB-D video sequences. The folder contents are as follows:
camera-intrinsics.txt - a text file with depth camera intrinsics (3x3 matrix in homogeneous coordinates)
seq-XX
frame-XXXXXX.color.png - a 24-bit PNG RGB color image
frame-XXXXXX.depth.png - a 16-bit PNG depth image, aligned to its corresponding color image. Depth is saved in millimeters (mm). Invalid depth is set to 0.
frame-XXXXXX.pose.txt - a text file with the camera pose of the frame (camera-to-world, 4x4 matrix in homogeneous coordinates and in meters)
Name
Depth Image
Color Image
Ground Truth
3DMatch
X
X
camera pose
TUM
Name
Depth Image
Color Image
Ground Truth Pose
Calibration
X
X
X
Yes
X
X
X
No
X
X
X
Yes
X
X
X
?
X
X
?