RGB-D Datasets
RGB-D Datasets
Name | Depth Image | Color Image | Ground Truth |
3DMatch | X | X | camera pose |
TUM |
3DMatch
paper: 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions, CVPR 2017
website: https://3dmatch.cs.princeton.edu/
notes: deep learning
UW
paper: A Large-Scale Hierarchical Multi-View RGB-D Object Dataset, ICRA 2011
TUM
OpenLORIS
Stanford Bunny
Berkley Angle
RGB-D Reconstruction Datasets organized by 3DMatch
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 | ? |
Dataset Format
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)
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