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Awesome RGB-D Datasets Awesome

This repository contains the selected list of datasets found in our survey "A Survey on RGB-D Datasets". We gathered 231 datasets that contain accessible depth data, therefore, this is the criteria to be considered an awesome dataset!

Datasets are divided into three categories and 6 sub-categories, which represent distinct applications of RGB-D data. The taxonomy tree of the application types is available in Figure 1, and extra information and examples of each category are available in our paper.

Fig 1: Taxonomy for RGB-D datasets.

Contents

  1. Information
  2. Update
  3. Citation
  4. Website
  5. Contributing
  6. Datasets

Information

We present each dataset with 8 columns that summarize important information of the datasets: Year, Scene Type, Sensor Type, Sensor Name, Data Modalities, Extra Data, Images/Scenes, and Application.

In Figure 2, we illustrate the variability of datasets presented in this paper, and how the type of sensor produces distinct depth results, changing reliability and sparsity.

Fig 2: Examples of depth data with image (first row) and depth (second row) of the following sensors: (a) Structured Light from NYUv2, (b) TOF from AVD Dataset, (c) LIDAR from KITTI, and (d) Stereo Camera Sensing from ReDWeb, where the authors compute correspondence maps by using optical flow.



Data is organized here by "Application Type", "Scene Type", and "Year" in this order. Since it is a long list, we also have it available on our website in a filterable way.

We also discuss the different applications for each sensor type and explain how these sensors work in our paper. We also identify influents and trending datasets in each field, which are also detailed in our paper.

Update

15/07/2022 : Added 28 new datasets after revising other 606 papers. The majority of datasets included in this revision contain saliency maps and are from the "Body" category.

Citation

Please cite our paper if you used our survey in your work:

@article{LOPES2022103489,
title = {A survey on RGB-D datasets},
journal = {Computer Vision and Image Understanding},
volume = {222},
pages = {103489},
year = {2022},
issn = {1077-3142},
doi = {https://doi.org/10.1016/j.cviu.2022.103489},
}

Website

We made available a website with filtering and ordering options to help you find the best datasets for your work. We encourage you to check it out in our page.

Contributing

If you have any comments or want to add your work to the list, just contact us at:

  • alexandre.lopes at ic.unicamp.br or
  • alexrlops at gmail.com

We expect to continue updating this list of datasets through the years, and your contribution is fundamental to continue this work.

RGB-D Datasets

No. Dataset Name Sensor Type Sensor Name Application Type Scene Type Data Modalities Extra Data Images/Scenes Year
0 No Name Defined - Synthetic SOR, and SOE Aerial Color, Depth Normal Maps, Edges, Semantic Labels 15 scenes (144000 images) 2020
1 DDAD LiDAR Luminar-H2 LIDAR SOR, and SOE Driving Color, Deph Instance Segmentation 150 scenes (12650 frames) 2020/2021
2 Woodscape LiDAR Velodyne HDL-64E SOR, and SOE Driving Color, IMU, GPS, Depth instance segmentation, 2d object detection 50 sequences (100k frames) 2019/2020/2021
3 NuScenes LiDAR - SOR, and SOE Driving Color, Depth, Radar, IMU 3D object detection, semantic segmentation 1000 scenes (20 seconds each). 1.4M Images and 390k Lidar Sweeps 2019/2020
4 EventScape - Synthetic SOR, and SOE Driving Color, Depth Semantic Segmentation, Navigation Data (Position, orientation, angular velocity, etc) 758 sequences 2021
5 KITTI-360 SCS, LiDAR Velodyne (LIDAR) Points Cloud, MVS SOR, and SOE Driving Color, Depth, GPS, IMU 2d-object detection, 3d-object detection, tracking, instance segmentation, optical flow. These are not in necessary in the same dataset 11 sequences to over 320k images and 100k laser scans 2021
6 Lyft level 5 SCS, LiDAR 3 LiDAR (40 and 64-beam lidars), 5 radars, MVS SOR, and SOE Driving Color, Depth, Radar 3d object detection 170000 scenes (25 seconds each) 2020
7 Virtual Kitti - Synthetic SOR, and SOE Driving Color, Depth semantic segmentation, instance segmentation, optical flow 50 videos (21260 frames) 2016
8 KITTI SCS, LiDAR Velodyne (LIDAR) Points Cloud, MVS SOR, and SOE Driving Color, Grayscale, Depth, GPS, IMU instance segmentation 61 scenes (42746 frames) 2012
9 Hypersim - Synthetic SOR, and SOE Indoor Color, Depth Normal Maps, Instance Segmentation, Diffuse Reflectance 461 scenes (77400 images) 2021
10 RoboTHOR - Synthetic SOR, and SOE Indoor Color, Depth Instance Segmentation 75 scenes 2020
11 Structured3D Dataset - Synthetic SOR, and SOE Indoor Color, Depth Object Detection, Semantic Segmentation 3500 scenes with 21835 rooms (196515 frames) 2020
12 Replica Structured Light SOR, and SOE Indoor Color, Depth, IMU, Grayscale Camera Normal Maps, Instance Segmentation 18 scenes 2019
13 Gibson LiDAR, Structured Light NavVis, Matterport Camera, DotProduct SOR, and SOE Indoor Color, Depth Normal Maps, Semantic Segmentation 572 scenes. 1400 floor spaces from 572 buildings 2018
14 InteriorNet - Synthetic SOR, and SOE Indoor Color, Depth, IMU Normal Maps, Semantic Segmentation 20 Million Images 2018
15 Taskonomy Structured Light SOR, and SOE Indoor Color, Depth 25 Tags (Normals Maps, Semantic Segmentation, Scene Classification, etc.) 4.5 Million Scenes 2018
16 AVD TOF Kinect v2 SOR, and SOE Indoor Color, Depth Object Detection 15 scenes (over 30k images) 2017
17 MatterPort3D SCS, Structured light Matterport Camera, MVS SOR, and SOE Indoor Color, Depth semantic segmentation, 3D semantic-voxel segmentation 90 scenes, 10800 panoramic views (194400 images) 2017
18 ScanNet Structured Light Occipital Structure Sensor - similar to Microsoft Kinect v1 SOR, and SOE Indoor Color, Depth 3D semantic-voxel segmentation 1513 sequences (over 2.5 million frames) 2017
19 SceneNet RGB-D - Synthetic SOR, and SOE Indoor Color, Depth instance segmentation, optical flow 15K trajectories (scenes) (5M images) 2017
20 SunCG - Synthetic SOR, and SOE Indoor Color, Depth semantic segmentation 45622 scenes 2017
21 GMU Kitchen Dataset TOF Kinect v2 SOR, and SOE Indoor Color, Depth Object Detection 9 scenes (6735 frames) 2016
22 Stanford2D3D Structured light Matterport Camera SOR, and SOE Indoor Color, Depth semantic segmentation, Normal Maps 6 large-scale indoor areas (70496 images) 2016
23 SUN3D Structured Light Asus Xtion Pro Live SOR, and SOE Indoor Color, Depth semantic segmentation 415 sequences 2013
24 Starter Dataset Structured Light Synthetic, Matterport Pro2, NA SOR and SOE (depending on subdataset) Indoor, In-the-wild Color, Depth, IMU, Grayscale Camera (depending on subdataset) Normals Maps, Semantic Segmentation, Scene Classification, etc. (depending on subdataset) Over 14.6M Images (multiple scenes) 2021
25 RGBD Object dataset Structured Light Kinect v1 SOR, and SOE Indoor, Isolated Objects / Focussed on Objects Color, Depth 3d segmentation 8 sequences and 300 isolated objects (250000 frames) 2011
26 TartanAir - Synthetic LiDAR SOR, and SOE Indoor, Outdoor Color, Depth semantic segmentation, optical flow 1037 scenes (Over 1M frames). Each scene contains 500-4000 frames. 2020
27 RGB-D Semantic Segmentation Dataset Structured Light Kinect v1 SOR, and SOE Isolated Objects / Focussed on Objects Color, Depth 3D semantic segmentation 16 test scenes 2011
28 GTA-SfM Dataset - Synthetic SOR, and SOE Outdoor Color, Depth Optical Flow 76000 images 2020
29 GL3D SCS MVS SOR Aerial Color, Depth 543 scenes (125623 images) 2018
30 ApolloScape LiDAR Velodyne HDL-64E S3 SOR Driving Color, Depth, GPS, Radar 155 min with 93k frames 2020
31 KAIST SCS, LiDAR Velodyne VLP-16, SICK LMS-511, MVS SOR Driving Color, Depth, GPS, IMU, Altimeter 19 sequences (191 km) 2019
32 RobotCar LiDAR 2 x SICK LMS-151 2D LIDAR, 1 x SICK LD-MRS 3D LIDAR SOR Driving Color, Deph, GPS, INS (Inertial navigation system) 133 scenes (almost 20M images (from multiple sensors) 2016
33 Malaga Urban Dataset SCS, LiDAR 2 SICK LMS, 3 HOKUYO, MVS SOR Driving Color, Depth, IMU, GPS 15 sequences 2014
34 Omniderectional Dataset SCS, LiDAR Velodyne HDL-64E, MVS SOR Driving Color, Depth - 152 scenes (12607 frames) 2014
35 Ford Campus Vision and Lidar SCS, LiDAR Velodyne HDL-64E, MVS SOR Driving Color, Depth, IMU, GPS 2 sequences 2011
36 Karlsruhe SCS MVS SOR Driving Color, GPS/IMU - 20 sequences (16657 frames) 2011
37 Multi-FoV (Urban Canyon dataset) - Synthetic SOR Driving, Indoor Color, Depth - 2 sequences 2016
38 No Name Defined RGB-D scans (NA) SOR Driving, Outdoor Color, Depth 13 scenes (5 Castle, 5 Church, 3 Street scenes) 2013
39 BlendedMVS - Synthetic SOR In-the-wild Color, Depth 113 scenes (17000 images) 2020
40 Youtube3D - Two Points Automatically Annotated SOR In-the-wild Color, Relative Depth 795066 images 2019
41 No Name Defined Structured Light, TOF Kinect v1, v2 and Synthetic SOR In-the-wild Color, Depth 10 scenes (2703 frames) 2019
42 4D Light Field Benchmark SCS light-field (Synthetic MVS) SOR In-the-wild Color, Depth 24 scenes 2016
43 Habitat Matterport (HM3D) Structured light Matterport Pro2 SOR Indoor Color, Depth - 1000 scenes 2021
45 ODS Dataset SCS MiniPolar 360 Camera (MVS) SOR Indoor Color, Depth Normal Maps 6 indoor areas (50000 images) 2019
46 360D Structured light Synthetic and Matterport Camera SOR Indoor Color, Depth 12072 scanned scenes and 10024 CG Scenes 2018
47 PanoSUNCG - Synthetic SOR Indoor Color, Depth 103 scenes (25000 images) 2018
48 CoRBS TOF Kinect v2 SOR Indoor Color, Depth 4 scenes (9 hours of recording) 2016
49 EuRoC MAV Dataset TOF, MVS Vicon Motion Capture, Leica MS50 SOR Indoor Color, Depth, IMU - 11 scenes 2016
50 Augmented ICL-NUIM Dataset - Synthetic SOR Indoor Color, Depth 4 scenes (2 living room, 2 offices) 2015
51 Ikea Dataset Structured Light Kinect v1 and PrimeSense SOR Indoor Color, Depth - 7 scenes 2015
52 ViDRILO Structured Light Kinect v1 SOR Indoor Color, Depth semantic category of the scene 5 sequences (22454 images) 2015
53 ICL-NUIM dataset - Synthetic SOR Indoor Color, Depth 8 scenes (4 living room, 4 office) 2014
54 MobileRGBD TOF Kinect v2 SOR Indoor Color, Depth 3 scenes (9.5 hours of recording) 2014
55 RGBD Object dataset v2 Structured Light Kinect v1 SOR Indoor Color, Depth - 14 sequences 2014
56 No Name Defined LiDAR Faro Focus 3D laser SOR Indoor Depth 40 scenes (rooms from three offices) 2014
57 RGB-D Dataset 7-Scenes Structured Light Kinect v1 SOR Indoor Color, Depth - 7 scenes (500-1000 frames/scene) 2013
58 Reading Room Dataset Structured Light Asus Xtion Pro Live SOR Indoor Color, Depth - 1 scene 2013
59 TUM-RGBD Structured Light Kinect v1 SOR Indoor Color, Depth, accelerometer 39 sequences 2012
60 IROS 2011 Paper Kinect Structured Light Kinect v1 SOR Indoor Depth - 27 sequences 2011
61 No Name Defined Structured Light Asus Xtion Pro Live SOR Indoor, Isolated Objects / Focussed on Objects Color, Depth 6 scenes 2013
62 No Name Defined Structured Light, TOF KinectFusion (Kinect v1) for two scenes. Riegl VZ-400 for office SOR Indoor, Isolated Objects / Focussed on Objects Color, Depth 2 scenes: statue and targetbox 2012
63 M&M SCS MVS SOR Indoor, Outdoor Color, Depth 4690 sequences (170k frames) and 130000 images 2020
64 Mannequin Challenge datasets SCS MVS SOR Indoor, Outdoor Color, Depth 4690 sequences (170k frames) 2019
65 MVSEC Dataset SCS, LiDAR Velodyne (LiDAR), MVS SOR Indoor, Outdoor Color, Depth, IMU 5 sequences 2018
66 ETH3D SCS, LiDAR FaroFocus X 330 (Laser Sensor), MVS SOR Indoor, Outdoor Color, Depth - 25 high-res, 10 low-res 2017
67 DiLigGent-MV Dataset SCS MVS SOR Isolated Objects / Focussed on Objects Color 5 objects (scenes) 2020
68 A Large Dataset of Object Scans Structured Light PrimeSense Carmine SOR Isolated Objects / Focussed on Objects Color, Depth over 10000 3D scans of objects. 2016
69 No Name Defined SCS, Structured Light PrimeSense, MVS SOR Isolated Objects / Focussed on Objects Color, Depth 9 scenes: 4 scenes using PrimeSense, 5 scenes using MVS 2015
70 BigBIRD Structured Light Carmine 1.09 sensor SOR Isolated Objects / Focussed on Objects Color, Depth 600 images (from 125 objects) 2014
71 Fountain Dataset Structured Light Asus Xtion Pro Live SOR Isolated Objects / Focussed on Objects Color, Depth 1 scene 2014
72 MVS SCS MVS SOR Isolated Objects / Focussed on Objects Color 124 scenes 2014
73 Live Color+3D Database TOF Range Scanner (RIEGL VZ-400) SOR Outdoor Color, Depth 12 scenes 2011/2013/2017
74 The Newer College Dataset Structured Light, LiDAR Intel D435i, Ouster OS-1 (Gen 1) 64 SOR Outdoor Color, Depth, IMU - 6 scenes 2020
75 Megadepth SCS MVS SOR Outdoor Color, Depth 130000 images 2018
76 CVC-13: Multimodal Stereo Dataset SCS, MVS SOR Outdoor Color, Infrared - 4 scenes 2013
77 Make3D TOF custom-built 3-D scanner SOR Outdoor Color, Depth 534 images 2009
78 Fountain-P11 and Herz-Jesu-P8 LiDAR SOR Outdoor Color, Depth 2 scenes (19 images) 2008
79 No Name Defined SCS MVS (seven cameras) SOR Partial Body w/o Scene Color - NA (2 actors) 2011
80 No Name Defined SCS MVS SOR Underwater Color, Depth, IMU, Sonar - 3 sequences 2016
81 DeMon SCS, Synthetic, Structured Light Synthetic, MVS, Asus Xtion Pro Live, Kinect v1 SOR Color, Depth 20537 sequences and scenes 2017
82 Scenes11 - Synthetic SOR Color, Depth 19959 sequences 2017
83 VALID - Synthetic SOE Aerial Color, Depth Object Detection, Panoptic Segmentation, Instance Segmentation, Semantic Segmentation 6 scenes (6690 images) 2020
84 US3D LiDAR Airborne LiDAR SOE Aerial Color, Depth Semantic Segmentation 4160 images from 3 different cities (a fourth is not available) 2019
85 Potsdam - - SOR Aerial Color, Depth - 38 Patches 2011
86 Vaihingen LiDAR Leica ALS50 and ALTM-ORION M Only Depth Aerial Color, Depth - 33 Patches 2011
87 Leddar Pixset Dataset LiDAR Leddar Pixell LiDAR SOE and Tracking (Other) Driving Color, Depth, IMU, Radar 3D Bounding Boxes, 2D Bounding Boxes, Semantic Segmentation 97 sequences (29k frames) 2021
88 Virtual Kitti 2 - Synthetic SOE and Tracking (Other) Driving Color, Depth Semantic Segmentation, Instance Segmentation, Optical Flow 5 scenes (multiple conditions for each scene) 2020
89 Waymo Perception LiDAR SOE Driving Color, Depth 3D object detection 1150 scenes (20 seconds/scene) 2020
90 Argoverse Dataset SCS, LiDAR Argo LiDAR, MVS SOE and Tracking (Other) Driving Color, Depth 3D Object Detection 113 scenes 2019
91 CityScapes SCS MVS SOE Driving Color, Odometry semantic segmentation, 3d-object detection and pose 50 cities (25000 images) 2016
92 SYNTHIA Virtual 8 depth sensors Synthetic SOE Driving Color, Depth instance segmentation 5 sequences (with sub-sequences) at 5 fps. 200k images from videos 2016
93 Daimler Urban Segmentation Dataset SCS MVS SOE Driving Color Semantic Labeling 5000 images 2014
94 Ground Truth Stixel Dataset SCS MVS SOE Driving Color Stixels 12 sequences 2013
95 Daimler Stereo Pedestrian Dataset SCS MVS SOE Driving Color Object Detection 28919 images 2011
96 UnrealDataset - Synthetic SOE Driving, Outdoor Color, Depth Semantic Segmentation 21 sequences (100k images) 2018
97 OASIS v2 - From Human Annotation SOE In-the-wild Color, Depth Normal Maps, Instance Segmenation 102000 images 2021
98 OASIS - From Human Annotation SOE In-the-wild Color, Depth Normal Maps, Instance Segmenation 140000 images 2020
99 Scene Flow Datasets - Synthetic SOE In-the-wild Color Optical Flow, object segmentation 2256 scenes (39049 frames) 2016
100 RGBD Salient Object Detection Structured Light Kinect v1 SOE In-the-wild Color, Depth Saliency Maps 1000 images 2014
101 Saliency Detection on Light Field SCS Lytro light field (MVS) SOE In-the-wild Color, Depth Saliency Maps 100 images 2014
102 MPI Sintel - Synthetic SOE In-the-wild Color, Depth Optical Flow 35 scenes (50 frames/scene) 2012
103 NYUv2-OC++ Structured Light Kinect v1 SOE Indoor Color, Depth, accelerometer occlusion boundaries maps 1449 images from NYUv2 2020
104 Near-Collision Set SCS, LiDAR LiDAR (NA), MVS SOE Indoor Color, Depth 2D Object Detection 13658 sequences 2019
105 SUN_RGB-D Structured Light and TOF Intel RealSense 3D Camera, Asus Xtion LIVE PRO, Kinect v1 and v2 SOE Indoor Color, Depth semantic segmentation, object detection and pose 10335 images 2015
106 TUW Structured Light ASUS Xtion ProLive RGB-D SOE Indoor Color, Depth object instance recognition 15 sequences (163 frames) 2014
107 Willow and Challenge Dataset Structured Light Kinect v1 SOE Indoor Color, Depth object instance recognition 24 sequences (353 frames) for Willow, 39 sequences (176 frames) 2014
108 NYU Depth V2 Structured Light Kinect v1 SOE Indoor Color, Depth, accelerometer semantic segmentation 464 scenes (407024 frames) with 1449 labeled aligned RGB-D images 2012
109 No Name Defined Structured Light Kinect v1 SOE Indoor Color, Depth semantic segmentation 3 options. Large: 2 sequences (397 frames) 2012
110 Berkeley B3DO Structured Light Kinect v1 SOE Indoor Color, Depth object detection 75 scenes (849 images) 2011
111 NYU Depth V1 Structured Light Kinect v1 SOE Indoor Color, Depth semantic segmentation 64 scenes (108617 frames) with 2347 labeled RGB-D frames 2011
112 ClearGrasp Structured Light Synthetic, Intel RealSense D415 SOE Isolated Objects / Focussed on Objects Color, Depth Normal Maps, Semantic Segmentation - Synthetic over 50000 synthetic images of 9 objects. 286 real images of 10 objects 2019
113 T-LESS Structured Light, TOF Kinect v2, PrimeSense Carmine 1.0 SOE Isolated Objects / Focussed on Objects Color, Depth 3D instance segmentation NA scenes (38k images) for training. 20 scenes (10k images) for testing 2017
114 DROT Structured Light, TOF Kinect v1, v2 and RealSense R200 SOE Isolated Objects / Focussed on Objects Color, Depth Object Motion 5 scenes (112 frames) 2016
115 MPII Multi-Kinect SCS, Structured Light Kinect v1, MVS SOE Isolated Objects / Focussed on Objects Color, Depth Object Detection 33 scenes (560 images) 2012
116 Mid-Air Dataset - Synthetic SOE Outdoor Color, Depth, Accelerometer, Gyroscope, GPS Normal Maps, Semantic Segmentation 54 sequences (420,000 frames) 2019
117 SCARED Dataset SCS, Structured Light Structured Light System (using P300 Neo Pico), MVS Medical Endoscopy Color, Depth - 9 sequences 2021
118 Colonoscopy CG dataset - Synthetic Medical Endoscopy Color, Depth 16016 images 2019
119 Endoscopic Video Datasets SCS MVS Medical Endoscopy Color 25 scenes 2010
120 Name Not Defined - Synthetic Medical Medical Color, Depth - 100 irises (72000 images) 2020
121 50 Salads Structured Light Kinect v1 Gestures Indoor Color, Depth, Accelerometer Activity Classification 50 sequences (25 people) 2013
122 RGB2Hands Structured Light Intel RealSense SR300/Synthetic Gestures Partial Body w/o Scene Color, Depth Segmentation, 2D Keypoints, Dense matching map, inter-hand distance, intra-hand distance Real: 4 sequences (1724 frames). Synthetic: NA 2020
123 ObMan Dataset - Synthetic Gestures Partial Body w/o Scene Color, Depth 3D Hand Keypoints, Object Segmentation, Hand Segmentation 150000 images 2019
124 Name Not Defined Structured Light Intel RealSense SR300 Gestures Partial Body w/o Scene Color, Depth, magnetic and kinematic sensors - 1175 sequences (over 100000 frames) 2018
125 BigHand2.2M Structured Light Intel RealSense SR300 Gestures Partial Body w/o Scene Color, Depth, 6D magnetic sensor NA sequences (2.2 million images), 10 subjects 2017
126 Pandora Dataset TOF Kinect v2 Gestures Partial Body w/o Scene Color, Depth Upper Body Part Person Pose (Skeleton) 100 sequences (more than 250k frames) from 20 subjects 2017
127 RHD - Synthetic Gestures Partial Body w/o Scene Color, Depth Segmentation, Keypoints 43986 images 2017
128 THU-READ Structured Light PrimeSense Carmine Gestures Partial Body w/o Scene Color, Depth - 1920 sequences 2017
129 STB SCS, Structured Light Intel Real Sense F200, MVS Gestures Partial Body w/o Scene Color, Depth 12 sequences (18000 images) 2016
130 EYEDIAP Structured Light Kinect v1 Gestures Partial Body w/o Scene Color, Depth Eye Points, Head Pose 94 sequences 2014
131 Eurecom Kinect Face Dataset Structured Light Kinect v1 Gestures Partial Body w/o Scene Color, Depth Face Points 936 sequences 2014
132 MANIAC Dataset Structured Light Kinect v1 Gestures Partial Body w/o Scene Color, Depth - 103 sequences 2014
133 NYU Hand Pose Dataset Structured Light Synthetic/Kinect v1 Gestures Partial Body w/o Scene Color, Depth Hand Pose 81009 frames 2014
134 3DMAD Structured Light Kinect v1 Gestures Partial Body w/o Scene Color, Depth Eye Points 255 sequences (76500 frames) 2013
135 Dexter 1 SCS, Structured Light, TOF Kinect v1, Creative Gesture Camera, MVS Gestures Partial Body w/o Scene Color, Depth 7 sequences 2013
136 No Name Defined TOF SoftKinetic DS 325 Gestures Partial Body w/o Scene Color, Depth, Measurand ShapeHand 870 images (30 subjects) 2013
138 MSR Gesture3D Structured Light Kinect v1 Gestures Partial Body w/o Scene Color, Depth - 336 sequences 2012
139 Florence 3D Faces - Synthetic Gestures Partial Body w/o Scene Color 53 people (NA Frames/Seqs) 2011
140 Espada Dataset - Synthetic Only Depth Aerial Color, Depth 49 environments (80k images) 2021
141 DSEC Dataset SCS, LiDAR Velodyne VLP-16, MVS Only Depth Driving Color, Depth, GPS 53 sequences 2021
142 Mapillary SCS MVS Only Depth Driving Color, Depth 50000 Scenes (750000 images) 2020
143 rabbitAI Benchmark SCS, MVS 17-camera light-field (MVS) Only Depth Driving Color 200 scenes (100 for training, 100 for testing) 2020
144 DrivingStereo - Driving Stereo SCS, LiDAR Velodyne HDL-64E, MVS Only Depth Driving Color, Depth, IMU, GPS 42 sequences (182188 frames) 2019
145 Urban Virtual Dataset (UVD) - Synthetic Only Depth Driving Color, Depth 58500 images 2017
146 DiverseDepth Dataset SCS MVS Only Depth In-the-wild Color 320000 images 2020
147 HRWSI SCS MVS Only Depth In-the-wild Color, Depth 20778 images 2020
148 Holopix50k SCS MVS Only Depth In-the-wild Color - 49368 images 2020
149 DualPixels Dataset SCS MVS Only Depth In-the-wild Color, Depth - 3190 images 2019
150 TAU Agent Dataset - Synthetic Only Depth In-the-wild Color, Depth 5 scenes 2019
151 WSVD SCS MVS Only Depth In-the-wild Color, Depth 553 videos (1500000 frames) 2019
152 ReDWeb SCS MVS Only Depth In-the-wild Color, Depth 3600 images 2018
153 IRS Dataset - Synthetic Only Depth Indoor Color, Depth Normal Maps 100025 images 2019/2021
154 IBims-1 TOF Laser (Leica HDS7000 laser scanner) Only Depth Indoor Color, Depth Semantic Segmentation (only for planar areas: walls, tables, floor) 100 images 2018/2020
155 AirSim Building_99 - Synthetic Only Depth Indoor Color, Depth - 20000 images 2021
156 Pano3D Dataset LiDAR, Structured Light 3 RGB cameras. The 3 depth cameras. Matterport Camera, NavVis, DotProduct (depending on subdataset) Only Depth Indoor Color, Depth Normal Maps 42923 samples 2021
157 Multiscopic Vision SCS Synthetic MVS Only Depth Indoor Color around 1200 scenes of synthetic data, 92 scenes of real data. 2020
158 Middlebury 2014 Dataset SCS MVS Only Depth Indoor Color, Depth 33 images 2014
159 Middlebury 2006 Dataset Structured Light custom-build Structured Light Only Depth Indoor Color, Depth 21 images 2006
160 Middlebury 2005 Dataset Structured Light custom-build Structured Light Only Depth Indoor Color, Depth 9 images 2005
161 Middlebury 2003 Dataset Structured Light custom-build Structured Light Only Depth Indoor Color, Depth 2 images 2003
162 Middlebury 2001 Dataset SCS MVS Only Depth Indoor Color, Depth 6 images 2001
163 DIML/CVL SCS, TOF Kinectv2 for Indoor, ZED Stereo Camera (MVS) for Outdoor Only Depth Indoor, Outdoor Color, Depth more than 200 scenes 2016, 2017, 2018, 2021
164 DIODE LiDAR FARO Focus S350 Only Depth Indoor, Outdoor Color, Depth Normal Maps 30 scenes (8574 indoor images, 16884 outdoor images) 2019
165 Forest Virtual Dataset (FVD) - Synthetic Only Depth Outdoor Color, Depth 49500 images 2017
166 Zurich Forest Dataset SCS MVS Only Depth Outdoor Color, Depth - 3 sequences (9846 images) 2017
167 No Name Defined SCS MVS Only Depth Underwater Color, Depth - 600 pairs (51 with depth Ground Truth) 2021
168 SQUID SCS MVS Only Depth Underwater Color, Depth - 57 images 2020
169 No Name Defined TOF Kinect v2 Human Activities Full Body Color, Depth 800 frames for each person (26 people) 2019
170 UOW Online Action3D TOF Kinect v2 Human Activities Full Body Color, Depth Person Pose (Skeleton) 20 sequences (20 participants performing multiple actions in a sequence) 2018
171 TVPR Structured Light Asus Xtion Pro Live Human Activities Full Body Color, Depth - 23 sequences (100 people, 2004 secs) 2017
172 TST Fall detection Dataset v2 TOF Kinect v2 Human Activities Full Body Color, Depth, accelerometer Person Pose (Skeleton) 264 scenes 2016
173 UOW LargeScale Combined Action3D TOF Kinect v2 Human Activities Full Body Color, Depth Person Pose (Skeleton) 4953 sequences 2016
174 TST Intake Monitoring dataset v1 Structured Light Kinect v1 Human Activities Full Body Color, Depth - 48 sequences 2015
175 TST Intake Monitoring dataset v2 Structured Light Kinect v1 Human Activities Full Body Color, Depth - 60 sequences 2015
176 TST TUG dataBase TOF Kinect v2 Human Activities Full Body Color, Depth, accelerometer Person Pose (Skeleton) 60 sequences 2015
177 UTD-MHAD Structured Light Kinect v1 Human Activities Full Body Color, Depth, accelerometer Person Pose (Skeleton) 861 sequences 2015
178 Human3.6M TOF MESA Imaging SR4000 from SwissRanger Human Activities Full Body Color, Depth, motion capture (mx) camera Person Pose (Skeleton) 447260 RGB-D frames (almost 3.6M RGB frames) 2014
179 Northwestern-UCLA Multiview Action 3D Dataset Structured Light Kinect v1 Human Activities Full Body Color, Depth - 1473 sequences 2014
180 TST Fall detection Dataset v1 Structured Light Kinect v1 Human Activities Full Body Color, Depth, accelerometer Person Pose (Skeleton) 20 sequences 2014
181 Chalearn Multimodal Gesture Recognition Structured Light Kinect v1 Human Activities Full Body Color, Depth, Audio User mask, Person Pose (Skeleton) 707 sequences (1720800 frames) 2013
182 MHAD Structured Light Kinect v1 Human Activities Full Body Color, Depth, Accelerometer, Motion Capture System - 660 sequences 2013
183 ChaLearn gesture challenge Structured Light Kinect v1 Human Activities Full Body Color, Depth - 50000 sequences 2012
184 DGait Structured Light Kinect v1 Human Activities Full Body Color, Depth - 583 sequences (53 subjects) 2012
185 MSR DailyActivity3D Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 320 sequences 2012
186 RGBD-ID Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 316 sequences (79 people) 2012
187 SBU Kinect Interaction Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 21 sequences from seven participants 2012
188 MSR Action3D Structured Light Similar to Kinect v1 (NA) Human Activities Full Body Color, Depth - 557 sequences (23797 frames) 2010
189 Hollywood 3D SCS MVS Human Activities In-the-wild Color, Depth - around 650 video clips 2013
190 Depth 2 Height TOF Kinect v2 Human Activities Indoor Color, Depth 2136 images 2020
191 HHOI TOF Kinect v2 Human Activities Indoor Color, Depth Person Pose (Skeleton) 8 actors recorded interections. Each interaction lasts 2-7 seconds presented at 10-15 fps 2016
192 CMU Panoptic Dataset TOF Kinect v2 Human Activities Indoor Color, Depth 3D Skeleton 65 sequences (5.5 capture hours) 2015
193 UR Fall Detection Dataset Structured Light Kinect v1 Human Activities Indoor Color, Depth, Accelerometer - 70 sequences 2014
194 RGB-D People Structured Light Kinect v1 Human Activities Indoor Color, Depth object detection and tracking 1 sequence (1132 frames of 3 sensors) 2011
195 DIW - Two points (manually anotated) Points (Other) In-the-wild Color, Depth Points (2 points) 495000 images 2016
196 LightField Dataset SCS Lytro Illum (Light field) (MVS) Synthesizes a 4D RGBD LF (Other) Other (Flowers) Color 3343 images 2017
197 Princeton Tracking Benchmark Structured Light Kinect v1 Tracking (Other) Indoor Color, Depth 100 sequences 2013
198 FRIDA dataset - Synthetic Fog (Other) Driving Color, Depth 18 scenes (90 images) 2010
199 FRIDA2 dataset - Synthetic Fog (Other) Driving Color, Depth 66 scenes (330 images) 2012
200 Dynamic Scene SCS MVS Novel View Synthesis (Other) Indoor, Outdoor Color Semantic Segmentation 9 scenes 2020
201 3D Ken Burns - Synthetic 3D Ken Burns (Other) In-the-wild Color, Depth Normal Maps 46 sequences 2019
202 Mirror3D Dataset SCS, Structured Light Matterport Camera, MVS, Kinect v1, Occipital Structure Sensor - similar to Microsoft Kinect v1 Mirror (Other) Indoor Color, Depth Mirror Mask 7011 scenes with mirror 2021
203 SBM-RGBD dataset Structured Light Kinect v1 SOE Indoor Color, Depth Saliency Mask 33 sequences (~15000 frames) 2017
204 LFSD - Lytro light field (MVS) SOE In-The-Wild Color, Depth Saliency Mask 100 images 2015
205 An In Depth View of Saliency Structured Light Kinect v1 SOE Indoor Color, Depth Saliency Mask 80 images 2013
206 DUTLF-Depth - Lytro light field (MVS) SOE In-The-Wild Color, Depth Saliency Mask 1200 images 2019
207 ReDWeb-S - MVS SOE In-The-Wild Color, Depth Saliency Mask 3179 images 2020
208 COTS - Intel Realsense D435 (MVS) SOE Isolated Objects / Focussed on Objects Color, Depth Saliency Mask 120 images 2021
209 NTU RGB+D TOF Kinect v2 Human Activities Full Body Color, Depth, IR Person Pose (Skeleton) 56880 sequences 2016
210 NTU RGB+D 120 TOF Kinect v2 Human Activities Full Body Color, Depth, IR Person Pose (Skeleton) 111480 sequences 2019
211 Mivia Action Structured Light Kinect v1 Human Activities Full Body Color, Depth - 28 sequences 2013
212 Chalearn LAP IsoGD Structured Light Kinect v1 Human Activities Full Body Color, Depth - 47933 sequences 2016
213 SYSU 3D HOI Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 480 sequences 2015
213 G3D Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton), Semantic Segmentation 7 sequences (multiple actions per sequence) 2016
214 IAS-Lab RGBD-ID Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton), Semantic Segmentation 33 sequences 2013
215 Online RGBD Action Dataset (ORGBD) Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 48 sequences 2014
216 MAD Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 40 sequences 2014
217 Hand Gesture Structured Light Kinect v1 Gestures (Head and Hand) Partial Body w/o Scene Color, Depth - 1400 sequences 2014
218 Creative Senz3D Structured Light Creative Senz3D Gestures (Head and Hand) Partial Body w/o Scene Color, Depth - 1320 sequences 2015
219 PKU-MMD TOF Kinect v2 Human Activities Full Body Color, Depth Person Pose (Skeleton) 3076 sequences 2017
220 Florence 3D Actions Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 215 sequences 2013
221 UTKinect-Action3D Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 200 sequences 2012
222 KARD Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 540 sequences 2014
223 SOR3D-AFF TOF Kinect v2 Human Activities Full Body Color, Depth - 1201 sequences 2020
224 CMDFALL Structured Light Kinect v1 Human Activities Full Body Color, Depth, Accelerometer - 20 sequences 2018
225 EgoGesture Structured Light Intel RealSense SR300 Gestures (Head and Hand) Partial Body w/o Scene Color, Depth - 2081 sequences 2018
226 LIRIS Structured Light Kinect v1 Human Activities Full Body Color, Depth - 180 sequences 2014
227 Bimanual Actions Structured Light PrimeSense Carmine 1.09 Gestures (Head and Hand) Partial Body w/o Scene Color, Depth - 540 sequences 2020
228 ISR-UoL 3D Social Activity Structured Light Kinect v1 Human Activities Full Body Color, Depth Person Pose (Skeleton) 10 Sequences 2016
229 UESTC TOF Kinect v2 Human Activities Full Body Color, Depth - 25600 sequences 2018
230 DDAD LiDAR Luminar-H2 LIDAR SOR, and SOE Driving Color, Deph Instance Segmentation 150 scenes (12650 frames) 2020/2021

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