PUT RGB-D/Workshop dataset

The PUT RGB-D/Workshop dataset consists 10 sequences (seq1 to seq10) in an unmodified robotic workshop environment, recorded using Asus Xtion Pro. The environment wasn’t enriched with purposely placed items to boost the performance and the movement of sensor resembled regular movement of a person or a robot entering the room. The groundtruth data was captured using the OptiTrack motion capture system. It also contains AHRS readings from xSens sensor.

Download links:
Seq1
Seq2
Seq5
Seq6
Seq7

Directory structure:

• depth – depth images for each frame
• rgb – color images for each frame
• ahrs.txt – AHRS data for each frame
• cloud_merged.ply – point cloud generated using ElasticFusion
• groundtruth.txt – groundtruth positions for each frame

Intrinsic camera calibration results:

fc =
537.4087
537.4836

cc =
320.3762
235.9355

kc =
0.0490
-0.1437
0.0011
0.0004

Camera to AHRS rotation quaternion:

q =
-0.4977 < -0.49552, 0.52916, -0.47618 >