Camera Calibration

The data was recorded with an ASUS Xtion Pro Live RGB-D camera. We provide intrinsic and extrinsic calibration of the color and depth (infrared) camera geometry, radiometric calibration for the color camera, and a model for depth undistortion. The extrinsic calibration of the attached VIVE tracker used to obtain the ground-truth poses is also included. For more details, please refer to the readme file contained in the download.

Maps & Trajectories

We provide two datasets, each consisting of a Lighting Adaptable Map and three camera trajectories recorded under varying lighting conditions. The map meshes are stored in PLY format with custom properties and elements. The trajectories contain synchronized RGB-D images, exposure times and gains, ground-truth light settings and camera poses, as well as the camera tracking results presented in the paper. For more details, please refer to the paper and the readme files contained in the downloads.


This data is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. If you use the data in an academic context, please consider citing the papers listed in the Publications section.


  • Tim Caselitz, Michael Krawez, Jugesh Sundram, Mark Van Loock, Wolfram Burgard
    Camera Tracking in Lighting Adaptable Maps of Indoor Environments
    IEEE International Conference of Robotics and Automation (ICRA), Paris, France, 2020
  • Michael Krawez, Tim Caselitz, Daniel Büscher, Mark Van Loock, Wolfram Burgard
    Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018