This part of the dataset contains the cropped RGB-D frames that tightly include the object, exactly as used in the object recognition evaluation of the paper introducing the RGB-D Object Dataset (i.e. subsampled every 5th video frame). Use this dataset if you wish to compare directly against object recognition results published in our papers. There is a separate download for the full dataset containing all RGB-D frames.


RGB-D Object Dataset - Evaluation Set (643 MB)

Training/Test Splits for Category Recognition