This part of the dataset contains the cropped RGB-D frames that tightly include the object as it is spun around on a turntable. There is another part of the dataset available containing 3D point clouds, in PCD format readable with the ROS Point Cloud Library (PCL), as well as a part containing the full 640x480 images from sensor.

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).

README.txt

Entire RGB-D Object Dataset
rgbd-dataset.tar (4.8 GB)

Individual Objects
apple_1.tar
apple_2.tar
apple_3.tar
apple_4.tar
apple_5.tar
ball_1.tar
ball_2.tar
ball_3.tar
ball_4.tar
ball_5.tar
ball_6.tar
ball_7.tar
banana_1.tar
banana_2.tar
banana_3.tar
banana_4.tar
bell_pepper_1.tar
bell_pepper_2.tar
bell_pepper_3.tar
bell_pepper_4.tar
bell_pepper_5.tar
bell_pepper_6.tar
binder_1.tar
binder_2.tar
binder_3.tar
bowl_1.tar
bowl_2.tar
bowl_3.tar
bowl_4.tar
bowl_5.tar
bowl_6.tar
calculator_1.tar
calculator_2.tar
calculator_3.tar
calculator_4.tar
calculator_5.tar
camera_1.tar
camera_2.tar
camera_3.tar
cap_1.tar
cap_2.tar
cap_3.tar
cap_4.tar
cell_phone_1.tar
cell_phone_2.tar
cell_phone_3.tar
cell_phone_4.tar
cell_phone_5.tar
cereal_box_1.tar
cereal_box_2.tar
cereal_box_3.tar
cereal_box_4.tar
cereal_box_5.tar
coffee_mug_1.tar
coffee_mug_2.tar
coffee_mug_3.tar
coffee_mug_4.tar
coffee_mug_5.tar
coffee_mug_6.tar
coffee_mug_7.tar
coffee_mug_8.tar
comb_1.tar
comb_2.tar
comb_3.tar
comb_5.tar
dry_battery_1.tar
dry_battery_2.tar
dry_battery_3.tar
dry_battery_4.tar
dry_battery_5.tar
dry_battery_6.tar
flashlight_1.tar
flashlight_2.tar
flashlight_3.tar
flashlight_4.tar
flashlight_5.tar
food_bag_1.tar
food_bag_2.tar
food_bag_3.tar
food_bag_4.tar
food_bag_5.tar
food_bag_6.tar
food_bag_7.tar
food_bag_8.tar
food_box_1.tar
food_box_2.tar
food_box_3.tar
food_box_4.tar
food_box_5.tar
food_box_6.tar
food_box_7.tar
food_box_8.tar
food_box_9.tar
food_box_10.tar
food_box_11.tar
food_box_12.tar
food_can_1.tar
food_can_2.tar
food_can_3.tar
food_can_4.tar
food_can_5.tar
food_can_6.tar
food_can_7.tar
food_can_8.tar
food_can_9.tar
food_can_10.tar
food_can_11.tar
food_can_12.tar
food_can_13.tar
food_can_14.tar
food_cup_1.tar
food_cup_2.tar
food_cup_3.tar
food_cup_4.tar
food_cup_5.tar
food_jar_1.tar
food_jar_2.tar
food_jar_3.tar
food_jar_4.tar
food_jar_5.tar
food_jar_6.tar
garlic_1.tar
garlic_2.tar
garlic_3.tar
garlic_4.tar
garlic_5.tar
garlic_6.tar
garlic_7.tar
glue_stick_1.tar
glue_stick_2.tar
glue_stick_3.tar
glue_stick_4.tar
glue_stick_5.tar
glue_stick_6.tar
greens_1.tar
greens_2.tar
greens_3.tar
greens_4.tar
hand_towel_1.tar
hand_towel_2.tar
hand_towel_3.tar
hand_towel_4.tar
hand_towel_5.tar
instant_noodles_1.tar
instant_noodles_2.tar
instant_noodles_3.tar
instant_noodles_4.tar
instant_noodles_5.tar
instant_noodles_6.tar
instant_noodles_7.tar
instant_noodles_8.tar
keyboard_1.tar
keyboard_2.tar
keyboard_3.tar
keyboard_4.tar
keyboard_5.tar
kleenex_1.tar
kleenex_2.tar
kleenex_3.tar
kleenex_4.tar
kleenex_5.tar
lemon_1.tar
lemon_2.tar
lemon_3.tar
lemon_4.tar
lemon_5.tar
lemon_6.tar
lightbulb_1.tar
lightbulb_2.tar
lightbulb_3.tar
lightbulb_4.tar
lime_1.tar
lime_2.tar
lime_3.tar
lime_4.tar
marker_1.tar
marker_2.tar
marker_3.tar
marker_4.tar
marker_5.tar
marker_6.tar
marker_7.tar
marker_8.tar
marker_9.tar
mushroom_1.tar
mushroom_2.tar
mushroom_3.tar
notebook_1.tar
notebook_2.tar
notebook_3.tar
notebook_4.tar
notebook_5.tar
onion_1.tar
onion_2.tar
onion_3.tar
onion_4.tar
onion_5.tar
onion_6.tar
orange_1.tar
orange_2.tar
orange_3.tar
orange_4.tar
peach_1.tar
peach_2.tar
peach_3.tar
pear_1.tar
pear_2.tar
pear_3.tar
pear_4.tar
pear_7.tar
pear_8.tar
pitcher_1.tar
pitcher_2.tar
pitcher_3.tar
plate_1.tar
plate_2.tar
plate_3.tar
plate_4.tar
plate_5.tar
plate_6.tar
plate_7.tar
pliers_1.tar
pliers_2.tar
pliers_3.tar
pliers_4.tar
pliers_5.tar
pliers_6.tar
potato_1.tar
potato_2.tar
potato_3.tar
potato_4.tar
potato_5.tar
potato_6.tar
rubber_eraser_1.tar
rubber_eraser_2.tar
rubber_eraser_3.tar
rubber_eraser_4.tar
scissors_1.tar
scissors_2.tar
scissors_3.tar
scissors_4.tar
shampoo_1.tar
shampoo_2.tar
shampoo_3.tar
shampoo_4.tar
shampoo_5.tar
shampoo_6.tar
soda_can_1.tar
soda_can_2.tar
soda_can_3.tar
soda_can_4.tar
soda_can_5.tar
soda_can_6.tar
sponge_1.tar
sponge_2.tar
sponge_3.tar
sponge_4.tar
sponge_5.tar
sponge_6.tar
sponge_7.tar
sponge_8.tar
sponge_9.tar
sponge_10.tar
sponge_11.tar
sponge_12.tar
stapler_1.tar
stapler_2.tar
stapler_3.tar
stapler_4.tar
stapler_5.tar
stapler_6.tar
stapler_7.tar
stapler_8.tar
tomato_1.tar
tomato_2.tar
tomato_3.tar
tomato_4.tar
tomato_5.tar
tomato_6.tar
tomato_7.tar
tomato_8.tar
toothbrush_1.tar
toothbrush_2.tar
toothbrush_3.tar
toothbrush_4.tar
toothbrush_5.tar
toothpaste_1.tar
toothpaste_2.tar
toothpaste_3.tar
toothpaste_4.tar
toothpaste_5.tar
water_bottle_1.tar
water_bottle_2.tar
water_bottle_3.tar
water_bottle_4.tar
water_bottle_5.tar
water_bottle_6.tar
water_bottle_7.tar
water_bottle_9.tar
water_bottle_10.tar