Awesome RGB-D Datasets

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

License

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