This dataset contains synchronized RGB-D frames from both Kinect v2 and Zed stereo camera. For the outdoor scene, we first generate disparity maps using an accurate stereo matching method and convert them using calibration parameters. A per-pixel confidence map of disparity is also provided. Our scenes are captured at various places, e.g., offices, rooms, dormitory, exhibition center, street, road etc., from Yonsei University and Ewha University

This dataset has been used to train convolutional neural networks in our project [1] and for our papers[2], [3], [4], [5] "High quality 2D-to-multiview contents generation from large-scale RGB-D database", under Grant by the Institute for Information and Communications Technology Promotion(IITP) through the Korean Government(MSIP)(R0115-16-1007)