VDT-2048 Dataset

VDT-2048 Dataset Overview

Dataset Content

• Number and Types of Images: 2,048 image sets, each containing three modalities: visible‑light, depth, and thermal images.
• Image Resolution: All images have a resolution of 640 × 480.
• Scenes and Items: The dataset includes 34 household items distributed across seven common home scenes.

Challenging Scenarios

• V Modality: Includes seven challenging scenarios such as V‑SA (Similar Appearance), V‑BSO (Big Salient Object), V‑SSO (Small Salient Object), V‑MSO (Multiple Salient Objects), V‑LI (Low Illumination), V‑SI (Side Illumination), V‑NI (No Illumination).
• D Modality: Includes four challenging scenarios such as D‑BM (Background Clutter), D‑II (Incomplete Information), D‑SSO (Small Salient Object), D‑BI (Background Interference).
• T Modality: Includes three challenging scenarios such as T‑Cr (Cross), T‑RD (Radiation Dispersion), T‑HR (Thermal Reflection).

Dataset Download

• Download Link: The dataset and code are available at the following link: Download Link

Citation

• Paper citation: K. Song, J. Wang, Y. Bao, L. Huang and Y. Yan, "A Novel Visible‑Depth‑Thermal Image Dataset of Salient Object Detection for Robotic Visual Perception," in IEEE/ASME Transactions on Mechatronics, vol. 28, no. 3, pp. 1558‑1569, June 2023, doi: 10.1109/TMECH.2022.3215909.