This dataset contains 8 scenes annotated with a subset of the objects in the RGB-D Object Dataset (bowls, caps, cereal boxes, coffee mugs, and soda cans). Each scene is a point cloud created by aligning a set of video frames using RGB-D Mapping*. These 3D reconstructions and ground truth object annotations are exactly those used in our ICRA 2012 paper (see README).
Windows users: The dataset was compressed into a tarball using Linux. Some Windows extractors have problems reading the files. One program that can be used to extract the data in Windows is 7zip (Open the single file extracted from the tarball again with 7zip to unpack it into a directory).
Entire RGB-D Scenes Dataset
rgbd-scenes_aligned.tar (423 MB)
*Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, and Dieter Fox. RGB-D Mapping: Using Kinect-Style Depth Cameras for Dense 3D Modeling of Indoor Environments. International Journal of Robotics Research, 2012.