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. It features:

1449 densely labeled pairs of aligned RGB and depth images 464 new scenes taken from 3 cities 407,024 new unlabeled frames Each object is labeled with a class and an instance number. The dataset has several components: Labeled: A subset of the video data accompanied by dense multi-class labels. This data has also been preprocessed to fill in missing depth labels. Raw: The raw RGB, depth and accelerometer data as provided by the Kinect. Toolbox: Useful functions for manipulating the data and labels.