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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 4 of 4: 46 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 145–190 of 190

MetaGraspNet 2 (MetaGraspNet difficulty 2 - medium)

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

RGB-D

1 paper · 0 benchmarks

MetaGraspNet 3 (MetaGraspNet difficulty 3 - hard 1)

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

RGB-D

1 paper · 0 benchmarks

MetaGraspNet 4 (MetaGraspNet difficulty 4 - hard 2)

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

RGB-D

1 paper · 0 benchmarks

MetaGraspNet 5 (MetaGraspNet difficulty 5 - very hard)

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

RGB-D

1 paper · 0 benchmarks

MuSoHu (Toward human-like social robot navigation: A large-scale, multi-modal, social human navigation dataset)

A large-scale, egocentric, multimodal, and context-aware dataset of human demonstrations of social navigation.

Videos 3D Point cloud RGB-D Actions Stereo LiDAR

1 paper · 0 benchmarks

Multiview Manipulation Data (Multiview Manipulation Expert Data and Trained Models)

Accompanying expert data and trained models for 2021 IROS paper on Multiview Manipulation.

RGB-D Robotic Grasping

1 paper · 0 benchmarks

NBMOD (Noisy Background Multi-Object Dataset for grasp detection)

Introduction NBMOD is a dataset created for researching the task of specific object grasp detection by robots in noisy environments.

RGB-D Robotic Grasping

1 paper · 1 benchmark

NPO (Negative and Positive Obstacles)

The dataset is recorded with an on-vehicle ZED stereo camera in both urban and rural environments The dataset contains various lighting conditions, such as normal lights, large-area shadows, dim lights, and sun glare.

RGB-D 2D Semantic Segmentation Segmentation Road Damage Detection

1 paper · 1 benchmark

NYUDv2-IS

A RGB-D dataset converted from NYUDv2 into COCO-style instance segmentation format.

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

1 paper · 2 benchmarks

Omiverse Object dataset

Omiverse Object is a large-scale synthetic dataset of 60,000 images including both transparent and opaque objects in different scenes.

RGB-D

1 paper · 0 benchmarks

PLAD (Point Line and Depth dataset)

PLAD is a dataset where sparse depth is provided by line-based visual SLAM to verify StructMDC.

Images 3d meshes RGB-D Depth Completion

1 paper · 1 benchmark

RMRC 2014

The RMRC 2014 indoor dataset is a dataset for indoor semantic segmentation.

Images RGB-D

1 paper · 0 benchmarks

RTB (Robot Tracking Benchmark)

The Robot Tracking Benchmark (RTB) is a synthetic dataset that facilitates the quantitative evaluation of 3D tracking algorithms for multi-body objects.

Images Videos 3D 3d meshes RGB-D 6D Tracking 3D Object Tracking

1 paper · 1 benchmark

Real SVBRDF

A total of 80 real material samples were captured in a dark room.

Images RGB-D Stereo

1 paper · 0 benchmarks

SPHERE-calorie

The dataset contains both RGB and depth images, and the data from two accelerometers, together with ground truth calorie values from a calorimeter for calorie expenditure estimation in home environments.

Images Time series RGB-D

1 paper · 0 benchmarks

SUN-RGBD-IS

A RGB-D dataset converted from SUN-RGBD into COCO-style instance segmentation format.

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

1 paper · 2 benchmarks

SceneNet RGB-D

SceneNet-RGBD is a synthetic dataset containing large-scale photorealistic renderings of indoor scene trajectories with pixel-level annotations.

Images RGB-D Temporal View Synthesis

1 paper · 0 benchmarks

THEOStereo

THEOStereo is a dataset providing synthetic stereo image pairs and their corresponding scene depth and will be published along with [1].

RGB-D Stereo

1 paper · 0 benchmarks

The RBO Dataset of Articulated Objects and Interactions

The RBO dataset of articulated objects and interactions is a collection of 358 RGB-D video sequences (67:18 minutes) of humans manipulating 14 articulated objects under varying conditions (light, perspective, background, interaction).

Videos Point cloud 3d meshes Time series RGB-D 3D Object Reconstruction 3D Object Recognition 3D Object Retrieval 3D Object Tracking

1 paper · 0 benchmarks

UIUC Scooping Dataset (Granular Materials Manipulation Dataset with Scooping/Digging/Excavation Action)

Overview: This dataset encompasses a compilation of 6,700 executed scoops (excavations), mapped across a vast spectrum of materials, terrain topography, and compositions.

Images Point cloud Environment Time series RGB-D

1 paper · 0 benchmarks

UMD-i Affrodance Dataset

One-Shot Affordance Part Segmentation variant of the UMD dataset.

Images RGB-D One-Shot Instance Segmentation One-Shot Segmentation One-Shot Part Segmentation of Grasp Affordance - Inter Class One-Shot Part Segmentation of Cut Affordance - Inter Class One-Shot Part Segmentation of Scoop Affordance - Inter Class One-Shot Part Segmentation of Contain Affordance - Inter Class+10 tasks

1 paper · 0 benchmarks

UR5 Tool Dataset

In this dataset UR5 robot used 6 tools: metal-scissor, metal-whisk, plastic-knife, plastic-spoon, wooden-chopstick, and wooden-fork to perform 6 behaviors: look, stirring-slow, stirring-fast, stirring-twist, whisk, and poke.

Images Videos Audio Interactive Time series RGB-D Actions RGB Video Object Recognition 3D Object Classification Object Categorization

1 paper · 0 benchmarks

VR-Folding

VR-Folding contains garment meshes of 4 categories from CLOTH3D dataset, namely Shirt, Pants, Top and Skirt.

Images Videos RGB-D Pose Tracking

1 paper · 0 benchmarks

ViCoS Towel Dataset

The ViCoS Towel Dataset is a state-of-the-art benchmark for grasp point localization on cloth objects, specifically towels.

Images RGB-D Keypoint Detection Robotic Grasping

1 paper · 1 benchmark

VisQUIC

Click to add a brief description of the dataset (Markdown and LaTeX enabled).

Time series RGB-D

1 paper · 0 benchmarks

YCB-Ev 1.1

The YCB-Ev dataset contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities.

RGB-D 6D Tracking RGB Video 6D Pose Estimation 6D Pose Estimation using RGBD

1 paper · 0 benchmarks

pick_screw

In this dataset we teleoperated UR5 arm to collect manipulation data for picking up a screwdriver in a cluttered tabletop environment.

Texts RGB-D 6D Robot Manipulation

1 paper · 0 benchmarks

rc_49 (rc_49 Grasping Dataset)

Includes several sets of synthetic stereo images labelled with grasp rectangles representing parallel-jaw grasps (Cornell-like format).

Images RGB-D Stereo Robotic Grasping Grasp Generation

1 paper · 0 benchmarks

DAHLIA (DAily Human Life Activity)

DAHLIA dataset [1] is devoted to human activity recognition, which is a major issue for adapting smart-home services such as user assistance.

Videos RGB-D Activity Recognition Activity Recognition In Videos Activity Detection Home Activity Monitoring

0 papers · 0 benchmarks

Freiburg Campus 3D Scan

The Freiburg Campus 3D Scan dataset consists of 3D area maps from the Freiburg campus that were scanned with 3D lasers.

RGB-D

0 papers · 0 benchmarks

Freiburg Lighting Adaptable Map Tracking

Freiburg Lighting Adaptable Map Tracking is a dataset for camera trajectory estimation.

Images RGB-D

0 papers · 0 benchmarks

Freiburg RGB-D People

The Freiburg RGB-D People dataset contains 3000+ RGB-D frames acquired in a university hall from three vertically mounted Kinect sensors.

Images RGB-D

0 papers · 0 benchmarks

HEADSET (HEADSET: Human Emotion Awareness under Partial Occlusions Multimodal DataSET)

The volumetric representation of human interactions is one of the fundamental domains in the development of immersive media productions and telecommunication applications.

Images Videos 3D Audio Point cloud 3d meshes RGB-D RGB Video 3D Face Reconstruction 3D Human Reconstruction Occluded Face Detection 3D Facial Expression Recognition Facial Emotion Recognition

0 papers · 0 benchmarks

HouseCat6D (A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios)

Estimating 6D object poses is a major challenge in 3D computer vision.

RGB-D 6D Pose Estimation Robotic Grasping

0 papers · 0 benchmarks

IITKGP_Fence Dataset

Overview The IITKGPFence dataset is designed for tasks related to fence-like occlusion detection, defocus blur, depth mapping, and object segmentation.

Images RGB-D RGB Video Object Detection 2D Semantic Segmentation Image Segmentation Occlusion Estimation Occlusion Handling

0 papers · 0 benchmarks

InfiniteRep

InfiniteRep is a synthetic, open-source dataset for fitness and physical therapy (PT) applications.

Images Videos 3D Biomedical 3d meshes RGB-D Actions Tracking RGB Video Pose Estimation Activity Recognition 2D Semantic Segmentation 3D Human Pose Estimation 3D Action Recognition Action Detection+13 tasks

0 papers · 0 benchmarks

MHRI dataset (Multimodal Human-Robot Interaction dataset)

The dataset includes recordings from 10 different users teaching the robot different common kitchen objects, that consists of synchronized recordings from three cameras and a microphone mounted on the robot: An RGB-d camera covers the user…

Images Audio RGB-D

0 papers · 0 benchmarks

PAVIS RGB-D

PAVIS RGB-D is a dataset for person re-identification using depth information.

Images RGB-D

0 papers · 0 benchmarks

Pose Estimation Lunar Robot (Dataset for camera pose estimation research using computer simulated images from rovers on the lunar surface)

Overview The goal: using simulation data to train neural networks to estimate the pose of a rover's camera with respect to a known target object The mission context: A simulated lunar surface, with lunar landers and lunar rovers.

Images Point cloud RGB-D Pose Estimation Robot Navigation

0 papers · 0 benchmarks

Primitive Shape Abstraction

Dataset: RGB-D Images for Real-World and Synthetic Object Scenes This dataset consists of both real-world and synthetic RGB-D images, designed for object detection, classification, and segmentation tasks, particularly for primitive shape…

RGB-D Image Segmentation Robotic Grasping

0 papers · 0 benchmarks

Robot@Home dataset

Images Videos RGB-D LiDAR

0 papers · 0 benchmarks

Sugar Beets 2016

Sugar Beets 2016 is a robot dataset for plant classification as well as localization and mapping that covers the relevant stages for robotic intervention and weed control.

Images RGB-D

0 papers · 0 benchmarks

Toronto NeuroFace Dataset

Toronto NeuroFace Dataset: A New Dataset for Facial Motion Analysis in Individuals with Neurological Disorders Toronto NeuroFace Dataset is a public dataset with videos of oro-facial gestures performed by individuals with oro-facial…

Images Videos Medical RGB-D Facial Landmark Detection Clinical Concept Extraction

0 papers · 0 benchmarks

UNIPD-BPE (University of Padova Body Pose Estimation)

The University of Padova Body Pose Estimation dataset (UNIPD-BPE) is an extensive dataset for multi-sensor body pose estimation containing both single-person and multi-person sequences with up to 4 interacting people A network with 5…

RGB-D Tracking 3D Human Pose Estimation 3D Action Recognition 3D Human Pose Tracking 3D Human Shape Estimation 3D Multi-Person Human Pose Estimation

0 papers · 0 benchmarks

Washington RGB-D Scenes

The RGB-D Scenes Dataset contains 8 scenes annotated with objects that belong to the Washington RGB-D Object Dataset.

Point cloud RGB-D

0 papers · 0 benchmarks

Washington RGB-D Scenes v2

The RGB-D Scenes Dataset v2 consists of 14 scenes containing furniture (chair, coffee table, sofa, table) and a subset of the objects in the RGB-D Object Dataset (bowls, caps, cereal boxes, coffee mugs, and soda cans).

Point cloud RGB-D

0 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 145–190 of 190