People Tracking Dataset

More than 38000 RGBD frames with 28 different people.

If you use this material, please cite out paper.

Provided data:

LEFT (grayscale reference image)

RGBD (3-channels images, encoding LEFT and 16-bit disparity map)

LABELS (format: frame id, x0, y0, x1, y1)

Calibration parameters



Dataset 1 (28000 frames)
  • Sequence 1 (12765 frames) LEFT(~2.3GB) RGBD (~4.9GB) LABELS
  • Sequence 2 (5931 frames) LEFT(~1.1GB) RGBD (~2.2GB)
  • Sequence 3 (3784 frames) LEFT(~0.6GB) RGBD (~1.4GB)
  • Sequence 4 (2415 frames) LEFT(~0.4GB) RGBD (~0.9GB)
  • Sequence ALL (1787 frames) LEFT(~0.3GB) RGBD (~0.7GB)
  • Sequence CHESSBOARD (1315 frames) LEFT(~0.2GB) RGBD (~0.4GB)
  • Calibration parameters (~4.2MB)


    • Dataset 2 (10871 frames)
  • Sequence 1 (9000 frames) LEFT(~1.7GB) RGBD (~3.3GB) LABELS
  • Sequence 2 (1169 frames) LEFT(~0.2GB) RGBD (~0.4GB)
  • Sequence ALL (702 frames) LEFT(~0.1GB) RGBD (~0.2GB)
  • Calibration parameters (~4.2MB)