Datasets › VOID
VOID (Visual Odometry with Inertial and Depth)
The dataset was collected using the Intel RealSense D435i camera, which was configured to produce synchronized accelerometer and gyroscope measurements at 400 Hz, along with synchronized VGA-size (640 x 480) RGB and depth streams at 30 Hz. The depth frames are acquired using active stereo and is aligned to the RGB frame using the sensor factory calibration. All the measurements are timestamped.
The dataset contains 56 sequences in total, both indoor and outdoor with challenging motion. Typical scenes include classrooms, offices, stairwells, laboratories, and gardens. Of the 56 sequences, 48 sequences (approximately 47K frames) are designated for training and 8 sequences for testing, from which we sampled 800 frames to construct the testing set. Each sequence constains sparse depth maps at three density levels, 1500, 500 and 150 points, corresponding to 0.5%, 0.15% and 0.05% of VGA size.
Benchmarks archive 2025-07-28
All 1 leaderboard whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Depth Completion | VOID | NLSPN MAE 26.736 | Non-Local Spatial Propagation Network for Depth Completion | zzangjinsun/NLSPN_ECCV20 | 6 | Compare |
Papers archive 2025-07-28
6 shown of 6 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 26. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| Unsupervised Depth Completion with Calibrated Backprojection Layers | 1 | 1 | 24 Aug 2021 | not harvested |
| Learning Topology from Synthetic Data for Unsupervised Depth Completion | 1 | 1 | 6 Jun 2021 | not harvested |
| Non-Local Spatial Propagation Network for Depth Completion | 1 | 1 | 20 Jul 2020 | ran 1 of 5 samples (4 unverified) |
| Unsupervised Depth Completion from Visual Inertial Odometry | 2 | 1 | 15 May 2019 | not harvested |
| Dense Depth Posterior (DDP) from Single Image and Sparse Range | 0 | 1 | 28 Jan 2019 | not harvested |
| Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera | 2 | 1 | 1 Jul 2018 | ran 2 of 2 samples (0 unverified) |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
No licence recorded in the archive. Absence here is not a statement about the dataset's terms.
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- VOID
1 variant name, as the archive lists them.
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