Collection of Kinect (RGB+D) datasets with 6D ground truth (by the CVPR team @ Technische Universitat Munchen)
|Sensors||RGBD, IMU (not in freiburg3), Ground truth|
|Recorded at:||Freiburg (2011-2012)|
|This dataset is a derived work from the collection  published by the CVPR team in the TUM University. According to the original "Creative Commons Attribution" license, this derived work is also released under identical terms.
The dataset has been converted into the Rawlog format  and published in the aim of it being useful to MRPT users. It can be visualized and manipulated with MRPT tools, available for download at .
This tutorial explains how to parse the datasets to emulate real-time applications from an MRPT program:http://www.mrpt.org/Switching_between_reading_live_Kinect_RGBD_dataset_for_debugging
Ubuntu users can also install:
sudo apt-get install libmrpt-dev mrpt-appsand then right-click on *.rawlog files to open them with RawLogViewer (see a demo video on YouTube). Note that RGB, depth and accelerometer data are available for each "observation". 3D point clouds haven't been pre-generated to save space, but they can be easily recovered by using "rawlog-edit":
rawlog-edit -i [INPUT.rawlog] -o [OUTPUT.rawlog] --generate-3d-pointcloudsPlease, cite the original works by the corresponding authors when citing this dataset [4,5]. To download all the datasets in a row, download this list and invoke:
wget -i rgbd_tum_datasets_2011.txtThe source code of the tool used to convert these datasets into the "rawlog" format is available as one of MRPT's code examples. Some notes about the differences between Kinect datasets in Rawlog format and in the TUM originals:
 Original datasets: http://cvpr.in.tum.de/data/datasets/rgbd-dataset/  Rawlog format specification: http://www.mrpt.org/Rawlog_Format  MRPT downloads: http://www.mrpt.org/download  http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=sturm11rss-rgbd  http://vision.in.tum.de/data/datasets/rgbd-dataset?key=sturm12iros