DIML / CVLAB RGB+D Dataset (Indoor + Outdoor)
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Sample Data

If you'd like to preview our dataset in order to ensure that its use is right for your project, please consider downloading the sample images below.

Indoor


    Kinect v2

  • Training 1500 (HR - 2.8 GB, LR - 706 MB)
  • Testing 500 (HR - 847 MB, LR - 208 MB)

  • depth_field : filled depth images using colorization (mm, 16bit png)
  • depth_raw : Raw depth images (mm, 16bit png)
  • depth_v : Normalized depth images for visualization purpose (8bit png)
  • color : Color images obtained from Kinect v2 (8bit png)

Outdoor


    ZED

  • Training 1500 (HR - 9.9 GB, LR - 1.8 GB)
  • Testing 500 (HR - 3.5 GB, LR - 610 MB)

  • Left : Left images obtained from ZED camera (8bit png)
  • Right : Right images obtained from ZED camera (8bit png)
  • Disparity : Disparity maps obtained by stereo matching (8bit png)
  • Depth : Disparity -> Depth (mm, 16bit png)
  • Confidence : Confidence maps for stereo matching (8bit png)