RGB-D Object Dataset

The RGB-D Object Dataset is a large dataset of 300 common household objects recorded using a Kinect style 3D camera. 

This dataset was introduced in:

Please cite the above publication if you use this dataset.

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Urban Scenes 3D Point Cloud Dataset

The dataset consists of two parts:

1) 3D Point Clouds of 10 labeled real-world urban scenes: Velodyne Data
2) 3D Point Clouds of 274 Google SketchUp models of objects commonly found in urban scenes: Google SketchUp Data

This dataset was used in evaluating the object recognition technique described in:

Please cite the above publications if you use this dataset.


We thank Albert Huang and the MIT DGC Team for providing us with the urban scenes velodyne data.