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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
website: http://rgbd-dataset.cs.washington.edu/dataset.html​
TUM
website: https://vision.in.tum.de/data/datasets/rgbd-dataset/download​
OpenLORIS
weblink: https://shimo.im/docs/HhJj6XHYhdRQ6jjk/read​
Stanford Bunny
website: http://graphics.stanford.edu/data/3Dscanrep/​
Berkley Angle
website: http://graphics.berkeley.edu/resources/ScannedModels/index.html​
RGB-D Reconstruction Datasets organized by 3DMatch​
Name
Depth Image
Color Image
Ground Truth Pose
Calibration
​SUN3D​
X
X
X
Yes
​7-Scenes​
X
X
X
No
​RGB-D Scenes v2​
X
X
X
Yes
​BundleFusion​
X
X
X
?
​Analysis by Synthesis​
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)

Algorithm - Previous

Datasets

Point Cloud Datasets

Last modified 6mo ago

Name	Depth Image	Color Image	Ground Truth
3DMatch	X	X	camera pose
TUM

RGB-D Datasets

RGB-D Datasets

3DMatch

UW

TUM

OpenLORIS

Stanford Bunny

Berkley Angle

RGB-D Reconstruction Datasets organized by 3DMatch​

Dataset Format

RGB-D Reconstruction Datasets organized by 3DMatch