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RGB-D datasets

archive 2025-07-28

190 datasets carry the modality tag "RGB-D", ordered by the archive's paper count. Page 2 of 4: 48 shown of 190. Facet routes are this site's own (the archive records the tag string, not a page).

The archive holds 12,214 dataset rows; 12,172 are listed. 6 are withheld from every listing and count here as vandalised before snapshot (6 with contact-centre spam in the title, 0 with a spam description on a row that has no homepage, no paper and no papers counted; none with more than 1 paper, 0 with a benchmark), listed in withheld.json; 1 listed row carries a vandalised description, withheld on its page. This gate never withholds a row with a homepage or a paper that resolves, and a clean description; the content rules below withhold a row whose name is spam whatever else it carries. The gate is a phrase list: these are the rows it caught, not a claim that the rest is clean. Before that gate, the site's content rules withhold 36 more rows (invite-code, gambling, travel-booking, contact-centre and similar spam in the name or on a row with nothing real behind it); they have no page and are listed in withheld.json.

RGB-D datasets 49–96 of 190

GSL (Greek Sign Language)

Dataset Description The Greek Sign Language (GSL) is a large-scale RGB+D dataset, suitable for Sign Language Recognition (SLR) and Sign Language Translation (SLT).

Videos RGB-D Sign Language Recognition Scene Text Recognition

11 papers · 1 benchmark

RGB-D-D

RGB-D-D is a large-scale dataset for depth map super-resolution (SR).

Images RGB-D Depth Map Super-Resolution

11 papers · 0 benchmarks

Dynamic Replica

Dynamic Replica is a synthetic dataset of stereo videos featuring humans and animals in virtual environments.

Videos RGB-D Depth Estimation 3D Reconstruction Video Segmentation Disparity Estimation

10 papers · 0 benchmarks

Bonn RGB-D Dynamic

Bonn RGB-D Dynamic is a dataset for RGB-D SLAM, containing highly dynamic sequences.

RGB-D Simultaneous Localization and Mapping Semantic SLAM

9 papers · 1 benchmark

HQ-WMCA (High-Quality Wide Multi-Channel Attack database)

The High-Quality Wide Multi-Channel Attack database (HQ-WMCA) database consists of 2904 short multi-modal video recordings of both bona-fide and presentation attacks.

Images Videos Hyperspectral images RGB-D Face Anti-Spoofing

9 papers · 0 benchmarks

DeepLoc

DeepLoc is a large-scale urban outdoor localization dataset.

Images RGB-D Scene Understanding Camera Relocalization Visual Localization

8 papers · 0 benchmarks

HANDAL (HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions)

We present the HANDAL dataset for category-level object pose estimation and affordance prediction.

Images Videos 3D Point cloud 3d meshes RGB-D RGB Video

8 papers · 0 benchmarks

X-Humans

X-Humans consists of 20 subjects (11 males, 9 females) with various clothing types and hair style.

3D RGB-D 3D Human Reconstruction

8 papers · 0 benchmarks

7-Scenes

The 7-Scenes dataset is a collection of tracked RGB-D camera frames.

Images RGB-D

7 papers · 0 benchmarks

ChangeSim

ChangeSim is a dataset aimed at online scene change detection (SCD) and more.

Images Videos Point cloud Time series RGB-D Change Detection Scene Change Detection

7 papers · 2 benchmarks

HandNet

The HandNet dataset contains depth images of 10 participants' hands non-rigidly deforming in front of a RealSense RGB-D camera.

Images RGB-D Pose Estimation Hand Pose Estimation Hand Segmentation

7 papers · 0 benchmarks

MMBody

The MMBody dataset provides human body data with motion capture, GT mesh, Kinect RGBD, and millimeter wave sensor data.

Images 3D Point cloud 3d meshes RGB-D 3D Human Reconstruction

7 papers · 0 benchmarks

MSR ActionPairs

This is a 3D action recognition dataset, also known as 3D Action Pairs dataset.

3D RGB-D Activity Recognition Action Recognition Temporal Action Localization Skeleton Based Action Recognition

7 papers · 1 benchmark

NTU RGB+D 2D

NTU RGB+D 2D is a curated version of NTU RGB+D often used for skeleton-based action prediction and synthesis.

Videos RGB-D Human action generation motion prediction

7 papers · 1 benchmark

SynthHands

The SynthHands dataset is a dataset for hand pose estimation which consists of real captured hand motion retargeted to a virtual hand with natural backgrounds and interactions with different objects.

Images Videos RGB-D Pose Estimation Hand Pose Estimation 3D Hand Pose Estimation

7 papers · 0 benchmarks

TransCG

TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240…

RGB-D Depth Completion Transparent Object Depth Estimation

7 papers · 1 benchmark

URFD Dataset (UR Fall Detection Dataset)

This dataset contains 70 (30 falls + 40 activities of daily living) sequences.

RGB-D Action Recognition Action Detection

7 papers · 0 benchmarks

Bimanual Actions Dataset

The Bimanual Actions Dataset is a collection of 540 RGB-D videos, showing subjects perform bimanual actions in a kitchen or workshop context.

Videos RGB-D

6 papers · 0 benchmarks

Freiburg Forest

The Freiburg Forest dataset was collected using a Viona autonomous mobile robot platform equipped with cameras for capturing multi-spectral and multi-modal images.

Images RGB-D Semantic Segmentation Unsupervised Image-To-Image Translation

6 papers · 2 benchmarks

IndustReal (IndustReal Dataset of Egocentric Videos for Procedure Understanding)

IndustReal is an ego-centric, multi-modal dataset where 27 participants are challenged to perform assembly and maintenance procedures on a construction-toy car.

Images Videos 3D Cad RGB-D Tracking Stereo Object Detection Action Recognition Procedure Step Recognition

6 papers · 3 benchmarks

MobileBrick

Generate high-quality 3D ground-truth shapes for reconstruction evaluation is extremely challenging because even 3D scanners can only generate pseudo ground-truth shapes with artefacts.

3D RGB-D 3D Reconstruction

6 papers · 0 benchmarks

YCBInEOAT Dataset

A new dataset with significant occlusions related to object manipulation.

Images Videos 3D Point cloud RGB-D 6D Tracking RGB Video Pose Estimation Pose Tracking 6D Pose Estimation

6 papers · 0 benchmarks

A Large Dataset of Object Scans

A Large Dataset of Object Scans is a dataset of more than ten thousand 3D scans of real objects.

3D RGB-D 3D Reconstruction Scene Understanding Object Reconstruction

5 papers · 0 benchmarks

BUP20 (Sweet Pepper 2020 University of Bonn)

Video sequences from a glasshouse environment in Campus Kleinaltendorf(CKA), University of Bonn, captured by PATHoBot, a glasshouse monitoring robot.

Images Videos RGB-D RGB Video Semantic Segmentation Instance Segmentation Panoptic Segmentation Neural Rendering

5 papers · 0 benchmarks

COME15K

COME15K is an RGB-D saliency detection dataset which contains 15,625 image pairs with high quality polygon-/scribble-/object-/instance-/rank-level annotations.

RGB-D Saliency Detection

5 papers · 0 benchmarks

DIMO (Dataset of Industrial Metal Objects)

The Industrial Metal Objects dataset is a diverse dataset of industrial metal objects.

Images RGB-D

5 papers · 0 benchmarks

HARPER (Exploring 3D Human Pose Estimation and Forecasting from the Robot’s Perspective: The HARPER Dataset)

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and \spot, the quadruped robot manufactured by Boston Dynamics.

Images Videos 3D RGB-D 3D Human Pose Estimation 2D Pose Estimation Human Pose Forecasting 3D Pose Estimation Pose Retrieval Collision Avoidance

5 papers · 3 benchmarks

NERDS 360 (NeRF for Reconstruction, Decomposition and Scene Synthesis of 360° outdoor scenes)

We present a large-scale dataset for 3D urban scene understanding.

Images 3D RGB-D 6D Semantic Segmentation Instance Segmentation Depth Estimation Novel View Synthesis 6D Pose Estimation Generalizable Novel View Synthesis

5 papers · 0 benchmarks

SERV-CT (SERV-CT: A disparity dataset from CT for validation of endoscopic 3D reconstruction)

Endoscopic stereo reconstruction for surgical scenes gives rise to specific problems, including the lack of clear corner features, highly specular surface properties, and the presence of blood and smoke.

3D Medical RGB-D Stereo Depth Estimation Stereo Disparity Estimation

5 papers · 0 benchmarks

Vi-Fi Multi-modal Dataset

A large-scale multi-modal dataset to facilitate research and studies that concentrate on vision-wireless systems.

Videos Time series RGB-D RGB Video Multimodal Association Out-of-Sight Trajectory Prediction

5 papers · 1 benchmark

3D Ken Burns Dataset

Provides a large-scale synthetic dataset which contains accurate ground truth depth of various photo-realistic scenes.

Images RGB-D Depth Estimation Surface Normals Estimation Surface Normal Estimation

4 papers · 0 benchmarks

DoMSEV (Dataset of Multimodal Semantic Egocentric Video)

The Dataset of Multimodal Semantic Egocentric Video (DoMSEV) contains 80-hours of multimodal (RGB-D, IMU, and GPS) data related to First-Person Videos with annotations for recorder profile, frame scene, activities, interaction, and…

Videos RGB-D Actions

4 papers · 0 benchmarks

EDEN

EDEN (Enclosed garDEN) is a multimodal synthetic dataset, a dataset for nature-oriented applications.

Images RGB-D Semantic Segmentation Depth Estimation Optical Flow Estimation

4 papers · 0 benchmarks

FINO-Net

FINO-Net is a multimodal (RGB, depth and audio) dataset, containing 229 real-world manipulation data of 5 different manipulation types recorded with a Baxter robot.

Audio RGB-D

4 papers · 0 benchmarks

FewSOL (A Dataset for Few-Shot Object Learning in Robotic Environments)

The Few-Shot Object Learning (FewSOL) dataset can be used for object recognition with a few images per object.

Images Texts RGB-D 6D Pose Estimation Few-Shot Image Classification Few-Shot Learning Few-Shot Semantic Segmentation Object Recognition Image-to-Text Retrieval+4 tasks

4 papers · 0 benchmarks

MMToM-QA (Multimodal Theory of Mind Question Answering)

MMToM-QA is the first multimodal benchmark to evaluate machine Theory of Mind (ToM), the ability to understand people's minds.

Images Videos Texts RGB-D RGB Video Theory of Mind Modeling

4 papers · 0 benchmarks

MUAD (Multiple Uncertainties for Autonomous Driving)

The MUAD dataset (Multiple Uncertainties for Autonomous Driving), consisting of 10,413 realistic synthetic images with diverse adverse weather conditions (night, fog, rain, snow), out-of-distribution objects, and annotations for semantic…

Images Environment RGB-D Object Detection Semantic Segmentation Anomaly Detection Monocular Depth Estimation Autonomous Driving Out of Distribution (OOD) Detection+4 tasks

4 papers · 0 benchmarks

MUSES: MUlti-SEnsor Semantic perception dataset (The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty)

MUSES offers 2500 multi-modal scenes, evenly distributed across various combinations of weather conditions (clear, fog, rain, and snow) and types of illumination (daytime, nighttime).

Images Point cloud RGB-D LiDAR Object Detection Semantic Segmentation Panoptic Segmentation Unsupervised Panoptic Segmentation Uncertainty-Aware Panoptic Segmentation

4 papers · 5 benchmarks

PARIS Dataset (PARIS Two-Part Object Dataset)

From PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objects: 5.1.

Images 3D RGB-D 3D Shape Modeling

4 papers · 0 benchmarks

TRansPose

TRansPose is a large-scale multispectral dataset that combines stereo RGB-D, TIR (TIR) images, and object poses to promote transparent object research.

RGB-D Transparent objects

4 papers · 0 benchmarks

AnoVox

AnoVox is a large-scale benchmark for ANOmaly detection in autonomous driving.

Images 3D RGB-D LiDAR Anomaly Detection

3 papers · 0 benchmarks

Composable activities dataset

The Composable activities dataset consists of 693 videos that contain activities in 16 classes performed by 14 actors.

Videos RGB-D Pose Estimation Action Recognition Temporal Action Localization

3 papers · 0 benchmarks

MM-OR

Operating rooms (ORs) are complex, high-stakes environments requiring precise understanding of interactions among medical staff, tools, and equipment for enhancing surgical assistance, situational awareness, and patient safety.

Images Videos Texts Graphs 3D Audio Point cloud Medical Time series Speech RGB-D 2D Panoptic Segmentation Scene Graph Generation Action Anticipation Video Segmentation Video Panoptic Segmentation Surgical phase recognition+2 tasks

3 papers · 3 benchmarks

UASOL (A large-scale high-resolution outdoor stereo dataset)

The UASOL an RGB-D stereo dataset, that contains 160902 frames, filmed at 33 different scenes, each with between 2 k and 10 k frames.

Images RGB-D Stereo Depth Estimation Monocular Depth Estimation Novel View Synthesis Stereo Matching

3 papers · 1 benchmark

UAVA (UAV Assistant)

The UAVA,UAV-Assistant, dataset is specifically designed for fostering applications which consider UAVs and humans as cooperative agents.

Images RGB-D 6D Tracking Drone Pose Estimation

3 papers · 0 benchmarks

VA (Virtual Apartment)

A synthetic depth estimation dataset for benchmark rendered from a high-quality CAD indoor environment - About 3.5K RGBD pairs with left-right stereo - Challenging viewing direction - Challenging different light condition

RGB-D Stereo Monocular Depth Estimation

3 papers · 1 benchmark

3D Datasets of Broccoli in the Field

This work was undertaken by members of the Lincoln Centre for Autonomous Systems, University of Lincoln, UK.

Images Biology RGB-D

2 papers · 0 benchmarks

3D-Point Cloud dataset of various geometrical terrains (3D-Point Cloud dataset of various geometrical terrains in urban environments recorded during human locomotion)

Depth vision has been recently used in many locomotion devices with the objective to ease the life of disabled people toward reaching more ecological lifestyle.

Images 3D Point cloud RGB-D 3D Classification 3D-Aware Image Synthesis

2 papers · 0 benchmarks

Paper counts and descriptions are the archive's, frozen 2025-07-28; no citation counts, no stars, no trending. Sorting by "most cited" or "newest" was a live-site feature the archive does not carry.

RGB-D datasets

Filter 39 modality tags shown of 39, by dataset count; the full filter by modality, task and language is on /datasets

RGB-D datasets 49–96 of 190