This is an incomplete list of point cloud/mesh/RGBD datasets, please email Yulan Guo to add or update the list
3D Model/Shape Retrieval Datasets
ShapeNet Dataset
The ShapeNetCore covers 55 common object categories with about 51,300 unique 3D models. The ShapeNetSem is a smaller, more densely annotated subset consisting of 12,000 models spread over a broader set of 270 categories.
ModelNet Dataset
It contains 127915 3D CAD models from 662 categories
UWA Dataset
@ University of Western Australia, Australia
Princeton Shape Benchmark
(PSB) @Princeton University, US
Colored 3D Model Database
(CDB) @ JiLin University, China
SHREC10 Datasets
it includes three benchmarks: robust large-scale retrieval, correspondence, and feature detection and description
TOSCA High-Resolution
it contains a total of 80 objects, including 11 cats, 9 dogs, 3 wolves, 8 horses, 6 centaurs, 4 gorillas, 12 female figures, and two different male figures, containing 7 and 20 poses
Non-Rigid World
it contains a total of 148 objects, including 9 cats, 11 dogs, 3 wolves, 17 horses, 15 lions, 21 gorillas, 1 shark, 24 female figures, and two different male figures, containing 15 and 20 poses
NTU 3D Model Benchmark ver.1
it contains 1833 3D models
NTU 3D Model Database ver.1
it contains 10911 3D models
Make3D Range Image Data
This dataset contains aligned image and range data. 1) Make3D Image and Laser Depthmap. 2) Image and Laser and Stereo. 3) Image and 1D Laser. 4) Image and Depth for Objects
Large Geometric Models Archive
@ Georgia Institute of Technology
The CAnonically Posed 3D Objects Dataset
It contains a total of 180 generic objects uniformly distributed into 15 classes
MIT CSAIL Textured Models Database
It provides several textured 3D models from the MIT CSAIL database
3D Object Detection/Recognition Datasets
Sydney Urban Objects Dataset
It contains labeled Velodyne LiDAR scans of 631 urban objects in 26 categories
UWA Dataset
@ University of Western Australia, Australia
Queen's Range Image and 3-D Model Database
@ Queen's University, Canada
Ca' Foscari Venezia Dataset
It is designed for 3D object recognition and segmentation in clutter, developed by the Università Ca' Foscari Venezia, Italy
USF Database
@ University of South Florida, US
RGB-D Object Dataset
@ University of Washington, US
YCB Object and Model Set
@ Yale-CMU-Berkeley Universities, US
RGB-D Object Datasets
RGB-D Dataset 7-Scenes
A collection of tracked RGB-D camera frames. The dataset may be used for evaluation of methods for different applications such as dense tracking and mapping and relocalization techniques
This data set has 24 labeled office scene point clouds and 28 labeled home scene point clouds
RGB-D Object Dataset
A large dataset of 300 common household objects. The objects are organized into 51 categories arranged using WordNet hypernym-hyponym relationships (similar to ImageNet). This dataset was recorded using a Kinect style 3D camera
NYU Depth Dataset V2
The NYU-Depth V2 data set is comprised of video sequences from a variety of indoor scenes as recorded by both the RGB and Depth cameras from the Microsoft Kinect
YCB Object and Model Set
CAD-60 & CAD-120: The CAD-60 and CAD-120 data sets comprise of RGB-D video sequences of humans performing activities which are recording using the Microsoft Kinect sensor
A list of RGBD Datasets
This is an incomplete list of datasets which were captured using a Kinect or similar devices
3D Keypoint Detection and Feature Description Datasets
3D Keypoint Detection Dataset
It contains 5 parts for evaluating the performance of 3D keypoint detectors. The whole dataset comes with groundtruth
Benchmark for 3D Interest Point Detection
This benchmark aims to provide tools to evaluate 3D Interest Point Detection Algorithms with respect to human generated ground truth.
3D Face Recognition/Analysis Datasets
Face Recognition Grand Challenge
Binghamton University 3D Facial Expression
BU-4DFE (3D + time)
A 3D Dynamic Facial Expression Database
Human Face
An animated three-dimensional face showing different facial expressions, acquired using a real-time range camera
NTU-CSP 3D Face Database
It is a multimodal database of 3D human faces composed by 3D scans of 80 different persons
Bosphorus 3D and 2D Database
It is a multimodal database of 3D human faces composed by 3D scans of 80 different persons
University of Houston Database
Spacetime Faces
High-Resolution Capture for Modeling and Animation
ETH Face Pose Range Image Data Set
Range images of faces with ground truth used in CVPR08 paper "Real-Time Face Pose Estimation from Single Range Images
Biwi Kinect Head Pose Database
Over 15K images of 20 people recorded with a Kinect while turning their heads around freely
BIWI 3D Audiovisual Corpus of Affective Communication
It contains high quality dynamic (25 fps) 3D scans of faces recorded while pronouncing a set of English sentences
University of York 3D Face Database
Ten facial surfaces of 97 different people were captured, under the conditions
120 persons were asked to pose twice in front of the system
Binghamton-Pittsburgh 3D Dynamic Spontaneous Facial Expression Database
A RGBD Facial Expression Database for Visual Computing
EURECOM Kinect Face Dataset
A database of images of different facial expressions in different lighting and occlusion conditions to serve various research purposes. The Dataset consists of the multimodal facial images of 52 people (14 females, 38 males) obtained by Kinect
Other 3D Point Clouds Datasets
Canadian Planetary Emulation Terrain 3D Mapping Dataset
A collection of three-dimensional laser scans gathered at two unique planetary analogue rover test facilities in Canada
ISPRS 3D Semantic Labeling Contest Dataset
A airborne laser scanning data from Vaihingen used for urban classification, 3D reconstruction, and 3D labeling
ASL Datasets Repository
Laser and Kinect data from structured and unstructured environments
3D Urban Scenes
It concerns urban scenes, was acquired with a lidar sensor
PCL 3D Point Clouds
More point cloud datasets can be found in PCL