This dataset is a derived work from the collection [1] 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 [2] 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 [3]. Ubuntu users can also install: sudo apt-get install libmrpt-dev mrpt-apps and then right-click on *.rawlog files to open them with RawLogViewer. 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-pointclouds Please, cite the original works by the corresponding authors when citing this dataset [4,5]. Regards, Jose Luis Blanco Claraco [1] Original datasets: http://cvpr.in.tum.de/data/datasets/rgbd-dataset/ [2] Rawlog format specification: http://www.mrpt.org/Rawlog_Format [3] MRPT downloads: http://www.mrpt.org/download [4] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=sturm11rss-rgbd [5] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=engelhard11euron-workshop