RGB-D Object Dataset - Evaluation Set The dataset contains 300 objects (aka instance) in 51 categories. The name of each object follows the format _, e.g. apple_1 is the first object (instance) in the "apple" category. Each instance consists of multiple RGB-D frames that come from three video sequences. 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. The files are named as follows: __