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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 3 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 97–144 of 190

BASEPROD (The Bardenas Semi-Desert Planetary Rover Dataset)

BASEPROD provides comprehensive rover sensor data collected over a 1.7 km traverse, accompanied by high-resolution 2D and 3D drone maps of the terrain.

Images 3D Point cloud Tabular Environment Time series RGB-D Stereo Pose Estimation Visual Odometry Visual Navigation Robot Navigation Simultaneous Localization and Mapping

2 papers · 0 benchmarks

ContactArt

ContactArt is a dataset for learning hand-object interaction priors for hand and articulated object pose estimation.

3D RGB-D Hand Pose Estimation

2 papers · 0 benchmarks

DONeRF: Evaluation Dataset

This is the dataset for the CGF 2021 paper "DONeRF: Towards Real-Time Rendering of Compact Neural Radiance Fields using Depth Oracle Networks".

Images RGB-D Novel View Synthesis Neural Rendering

2 papers · 1 benchmark

DRACO20K

DRACO20K dataset is used for evaluating object canonicalization on methods that estimate a canonical frame from a monocular input image.

Images 3D RGB-D 3D Reconstruction 3D Pose Estimation 3D Depth Estimation

2 papers · 0 benchmarks

DTTD

Digital-Twin Tracking Dataset (DTTD) is a novel RGB-D dataset to enable further research of the problem and extend potential solutions towards longer ranges and mm localization accuracy.

RGB-D Object Tracking 3D Object Tracking

2 papers · 0 benchmarks

Drunkard's Dataset

Estimating camera motion in deformable scenes poses a complex and open research challenge.

Videos 3D Medical RGB-D Pose Estimation 3D Reconstruction Visual Tracking Pose Tracking Single-View 3D Reconstruction Visual Odometry+9 tasks

2 papers · 1 benchmark

HOI-Synth (HOI-Synth benchmark)

The HOI-Synth benchmark extends three egocentric datasets designed to study hand-object interaction detection, EPIC-KITCHENS VISOR, EgoHOS, and ENIGMA-51, with automatically labeled synthetic data obtained through a novel HOI generation…

Images RGB-D Hand-Object Interaction Detection

2 papers · 0 benchmarks

IBISCape

A Simulated Benchmark for multi-modal SLAM Systems Evaluation in Large-scale Dynamic Environments.

Images Videos Point cloud Environment RGB-D Stereo RGB Video 3D Point Cloud Reconstruction 3D Pose Estimation 3D Scene Reconstruction 3D Object Detection From Stereo Images 3D Depth Estimation 3D Object Tracking+1 tasks

2 papers · 0 benchmarks

ICL-NUIM

The ICL-NUIM dataset aims at benchmarking RGB-D, Visual Odometry and SLAM algorithms.

Images RGB-D

2 papers · 0 benchmarks

InSpaceType (Indoor Space Type Dataset for Monocular Depth Analysis)

High Quality Indoor Monocular Depth Estimation Dataset with focus on performance variation across space type - 1260 high quality evaluation pairs - Detailed inference variance across space types - Additional indoor image and depth pairs…

Images 3D RGB-D Indoor Monocular Depth Estimation

2 papers · 0 benchmarks

Lindenthal Camera Traps

This data set contains 775 video sequences, captured in the wildlife park Lindenthal (Cologne, Germany) as part of the AMMOD project, using an Intel RealSense D435 stereo camera.

Images Videos RGB-D Stereo Object Detection Classification Instance Segmentation Object Tracking

2 papers · 0 benchmarks

Mila Simulated Floods

Mila Simulated Floods Dataset is a 1.5 square km virtual world using the Unity3D game engine including urban, suburban and rural areas.

Images RGB-D Semantic Segmentation Domain Adaptation Image-to-Image Translation Depth Estimation Scene Segmentation

2 papers · 1 benchmark

Pano3D

Pano3D is a new benchmark for depth estimation from spherical panoramas.

Images 3D Point cloud RGB-D Domain Adaptation Depth Estimation Out-of-Distribution Detection 3D Reconstruction Surface Normals Estimation 3D Depth Estimation+2 tasks

2 papers · 0 benchmarks

Plittersdorf

A set of 221 stereo videos captured by the SOCRATES stereo camera trap in a wildlife park in Bonn, Germany between February and July of 2022.

Images Videos RGB-D Instance Segmentation Stereo Matching

2 papers · 0 benchmarks

RGBD1K (A Large-scale Dataset and Benchmark for RGB-D Object Tracking)

RGBD1K is a benchmark for RGB-D Object Tracking which contains 1050 sequences with about 2.5M frames in total.

Videos RGB-D Visual Object Tracking

2 papers · 0 benchmarks

Rendered Handpose Dataset

Rendered Handpose Dataset contains 41258 training and 2728 testing samples.

Images 3D RGB-D Pose Estimation Sign Language Recognition

2 papers · 0 benchmarks

SB20 (Sugar Beet 2020 University of Bonn)

Video sequences captured at a field on Campus Kleinaltendorf (CKA), University of Bonn, captured by BonBot-I, an autonomous weeding robot.

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

2 papers · 0 benchmarks

SuperCaustics

SuperCaustics is a simulation tool made in Unreal Engine for generating massive computer vision datasets that include transparent objects.

Images Interactive Environment RGB-D RGB Video LiDAR Physics Depth Estimation Depth Completion Surface Normals Estimation Transparent Object Depth Estimation Caustics Segmentation Transparent Object Detection

2 papers · 0 benchmarks

TBBR (Thermal Bridges on Building Rooftops)

The dataset of Thermal Bridges on Building Rooftops (TBBR dataset) consists of annotated combined RGB and thermal drone images with a height map.

Images Hyperspectral images RGB-D 2D Object Detection Object Detection 2D Semantic Segmentation Instance Segmentation

2 papers · 2 benchmarks

TorWIC (The Toronto Warehouse Incremental Change Dataset)

TorWIC is the dataset discussed in POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes.

RGB-D LiDAR Simultaneous Localization and Mapping Semantic SLAM Object SLAM

2 papers · 0 benchmarks

WeatherKITTI

WeatherKITTI is currently the most realistic all-weather simulated enhancement of the KITTI dataset.

Images RGB-D LiDAR Unsupervised Monocular Depth Estimation

2 papers · 0 benchmarks

robo-vln (Robotics Vision-and-Language Navigation)

The Robo-VLN dataset is a continuous control formulation of the VLN-CE dataset by Krantz et al ported over from Room-to-Room (R2R) dataset created by Anderson et al.

Images Texts Time series RGB-D Vision and Language Navigation

2 papers · 1 benchmark

6IMPOSE (Synthetic RGBD dataset for 6D pose estimation)

The dataset includes the synthetic data generated from rendering the 3D meshes of LM objects and several household objects in Blender for training 6D pose estimation algorithms.

RGB-D 6D Pose Estimation using RGBD

1 paper · 0 benchmarks

ARKitTrack

ARKitTrack is a new RGB-D tracking dataset for both static and dynamic scenes captured by consumer-grade LiDAR scanners equipped on Apple's iPhone and iPad.

Images Videos RGB-D Visual Tracking

1 paper · 0 benchmarks

BIDCD (Bosch Industrial Depth Completion Dataset)

Bosch Industrial Depth Completion Dataset (BIDCD) is an RGBD dataset for of static table-top scenes with industrial objects.

Images RGB-D Depth Completion

1 paper · 0 benchmarks

Baxter-UR5_95-Objects

In this dataset two robots, Baxter and UR5, perform 8 behaviors (look, grasp, pick, hold, shake, lower, drop, and push) on 95 objects that vary by 5 color (blue, green, red, white, and yellow), 6 contents (wooden button, plastic dices,…

Images Videos Audio Interactive Time series RGB-D Actions RGB Video Object Recognition

1 paper · 0 benchmarks

BigBIRD (Big Berkeley Instance Recognition Dataset)

BigBIRD is a 3D dataset of 125 objects, with the following data for each object: 600 12 megapixel images, sampling the viewing hemisphere 600 registered RGB-D point clouds from a Carmine 1.09 sensor Pose information for each of the above…

Images Point cloud RGB-D

1 paper · 0 benchmarks

Boombox

Boombox is a multi-modal dataset for visual reconstruction from acoustic vibrations.

Images 3D Audio Time series RGB-D Image Generation 3D Point Cloud Reconstruction Multimodal Deep Learning

1 paper · 0 benchmarks

Box-IS

RGB-D instance segmentation box dataset.

Images RGB-D Instance Segmentation Segmentation RGB-D Instance Segmentation

1 paper · 2 benchmarks

CLAD (Complex and Long Activities Dataset)

CLAD (Compled and Long Activities Dataset) is an activity dataset which exhibits real-life and diverse scenarios of complex, temporally-extended human activities and actions.

Videos Point cloud RGB-D Object Detection Activity Recognition

1 paper · 0 benchmarks

DARai (Daily Activity Recordings for AI and ML applications)

Daily Activity Recordings for Artificial Intelligence (DARai, pronounced "Dahr-ree") is a multimodal, hierarchically annotated dataset constructed to understand human activities in real-world settings.

Images Videos Biomedical Environment Time series RGB-D LiDAR Object Detection 2D Semantic Segmentation 3D Action Recognition Scene Segmentation 2D Pose Estimation Human-Object Interaction Detection+5 tasks

1 paper · 0 benchmarks

DAVIDE ('Depth-Aware VIdeo DEblurring')

The DAVIDE dataset consists of synchronized blurred, depth, and sharp videos.

Videos RGB-D Deblurring Video Deblurring

1 paper · 0 benchmarks

Deep Indices (multi-spectral leaf/vegetation segmentation)

This dataset inclue multi-spectral acquisition of vegetation for the conception of new DeepIndices.

Images Environment Hyperspectral images RGB-D 2D Semantic Segmentation

1 paper · 1 benchmark

DeepLocCross

DeepLocCross is a localization dataset that contains RGB-D stereo images captured at 1280 x 720 pixels at a rate of 20 Hz.

Images RGB-D Scene Understanding Visual Localization

1 paper · 0 benchmarks

FDMSE-ISL

A large-scale isolated Indian sign language dataset.

Videos RGB-D Sign Language Recognition Hand Gesture Recognition

1 paper · 1 benchmark

GraspClutter6D

GraspClutter6D is a large-scale real-world dataset for robust object perception and robotic grasping in cluttered environments.

Images 3d meshes RGB-D 6D Instance Segmentation 6D Pose Estimation Robotic Grasping

1 paper · 0 benchmarks

HA-ViD (HA-ViD: A Human Assembly Video Dataset)

Understanding comprehensive assembly knowledge from videos is critical for futuristic ultra-intelligent industry.

Images Videos RGB-D Actions Tracking RGB Video Object Detection Action Recognition Multi-Object Tracking Action Segmentation

1 paper · 0 benchmarks

HOWS (HOWS-CL-25)

HOWS-CL-25 (Household Objects Within Simulation dataset for Continual Learning) is a synthetic dataset especially designed for object classification on mobile robots operating in a changing environment (like a household), where it is…

Images RGB-D Classification Continual Learning Incremental Learning Object Reconstruction Scene Recognition

1 paper · 2 benchmarks

HRI (High-resolution Rainy Image)

The HRI Dataset comprises a total of 3,200 image pairs.

Images RGB-D Image Generation Image Restoration Rain Removal Single Image Deraining

1 paper · 0 benchmarks

Image-based size estimation of broccoli heads under varying degrees of occlusion

This publicly available dataset contains 1613 RGB-D images of field-grown broccoli plants.

Images Biology RGB-D Instance Segmentation

1 paper · 0 benchmarks

InHARD (Industrial Human Action Recognition Dataset in the Context of Industrial Collaborative Robotics)

We introduce a RGB+S dataset named “Industrial Human Action Recognition Dataset” (InHARD) from a real-world setting for industrial human action recognition with over 2 million frames, collected from 16 distinct subjects.

Videos RGB-D Action Recognition Action Segmentation

1 paper · 0 benchmarks

InfraParis

InfraParis is a novel and versatile dataset supporting multiple tasks across three modalities: RGB, depth, and infrared.

Images RGB-D Stereo RGB Video 2D Object Detection Domain Adaptation 2D Semantic Segmentation Monocular Depth Estimation Thermal Infrared Pedestrian Detection Infrared And Visible Image Fusion

1 paper · 0 benchmarks

JHU CoSTAR Block Stacking Dataset

Involves data where a robot interacts with 5.1 cm colored blocks to complete an order-fulfillment style block stacking task.

Images 3D Point cloud RGB-D RGB Video Neural Architecture Search

1 paper · 0 benchmarks

Ladybird Cobbitty 2017 Brassica Dataset

This data set contains weekly scans of cauliflower and broccoli covering a ten week growth cycle from transplant to harvest.

Images Biology Hyperspectral images RGB-D

1 paper · 0 benchmarks

MS-HAB-Demonstrations (ManiSkill-HAB Demonstration Datasets)

Whole-body, low-level control/manipulation demonstration dataset for ManiSkill-HAB.

Images RGB-D Replay data Actions

1 paper · 0 benchmarks

Major TOM Core-DEM

ML-ready Global Dataset of elevation map.

RGB-D

1 paper · 0 benchmarks

Matador (Matador: A Material Image Dataset)

The Matador dataset is a material image dataset with hierarchical labels.

Images RGB-D LiDAR Material Recognition

1 paper · 0 benchmarks

MetaGraspNet 1 (MetaGraspNet difficulty 1 - easy)

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks.

RGB-D

1 paper · 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 97–144 of 190