TUM RGB-D dataset

While previous datasets were used for object recognition, this dataset is used to understand the geometry of a scene. The RGB-D dataset[3] has been popular in SLAM research and was a benchmark for comparison too. Here, RGB-D refers to a dataset with both RGB (color) images and Depth images. The depth here refers to distance of pixel from camera and are taken using a depth camera. Since there is also depth information available, this dataset can also be used to evaluate depth based SLAM algorithms and three-dimensional reconstructions from RGB image and its corresponding depth image.

To download this dataset, visit https://vision.in.tum.de/data/datasets/rgbd-dataset/download and choose the type of sequence to use.