RGBD Datasets

Each of the following datasets contain a series of RGB and depth images of a planar scene. In each dataset, the camera performs a distinct movement.

The images were captured using a Kinect camera and have a resolution of 1280x960 (the depth images are upscaled). They were generated using the ROS-based rgbd_dataset_gen toolkit.

The data sets are 'downwards compatible' to the image datasets created by Mikolajczyk et. al.

Related Publications

David Gossow, David Weikersdorfer, Michael Beetz: Distinctive Texture Features from Perspective-Invariant Keypoints, International Conference on Pattern Recognition (ICPR), 2012

You can download datasets referenced in the publication in one single file: daft_datasets.tar.gz (207 MB)

You can get the source code of DAFT on github: https://github.com/dgossow/daft.

You can find a further list of related publications on the site of the original evaluation framework: http://www.robots.ox.ac.uk/~vgg/research/affine/.

Data description

Each directory contains the following files:

In addition, it contains one of the following parameter files:

The parameter files contain the numerical values for all images except the first.

The 'Poster' Data Set

Download the full dataset: poster.tar.gz (623 MB)

This scene shows several posters fixed to the ground or wall.

It contains the following transformations:





The 'World Map' Data Set

Download the full dataset: world_map.tar.gz (623 MB)

This scene shows a world map fixed to a wall.

It contains the following transformations: