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This manual is intended to provide a detailed description of the DIML/CVLRGB-D dataset. This dataset is comprised of 2M color images and theircorresponding depth maps from a great variety of natural indoor and outdoorscenes. The indoor dataset was constructed using the Microsoft Kinect v2, whilethe outdoor dataset was built using the stereo cameras (ZED stereo camera andbuilt-in stereo camera). Table I summarizes the details of our dataset,including acquisition, processing, format, and toolbox. Refer to Section II andIII for more details.

DIML/CVL RGB-D Dataset: 2M RGB-D Images of Natural Indoor and Outdoor Scenes