RGB-D data has turned out to be a very useful representation of an indoor scene for solving fundamental computer vision problems. It takes the advantages of the color image that provides appearance information of an object and also the depth image that is immune to the variations in color, illumination, rotation angle and scale. With the invention of the low-cost Microsoft Kinect sensor, which was initially used for gaming and later became a popular device for computer vision, high quality RGB-D data can be acquired easily. In recent years, more and more RGB-D image/video datasets dedicated to various applications have become available, which are of great importance to benchmark the stateof-the-art. In this paper, we systematically survey popular RGB-D datasets for different applications including object recognition, scene classification, hand gesture recognition, 3D-simultaneous localization and mapping, and pose estimation. We provide the insights into the characteristics of each important dataset, and compare the popularity and the difficulty of those datasets. Overall, the main goal of this survey is to give a comprehensive description about the available RGB-D datasets and thus to guide researchers in the selection of suitable datasets for evaluating their algorithms.

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Aiming at efficient similarity search, hash functions are designed to embed high-dimensional feature descriptors to low-dimensional binary codes such that similar descriptors will lead to binary codes with a short distance in the Hamming space. It is critical to effectively maintain the intrinsic structure and preserve the original information of data in a hashing algorithm. In this paper, we propose a novel hashing algorithm called Latent Structure Preserving Hashing (LSPH), with the target of finding a well-structured low-dimensional data representation from the original highdimensional data through a novel objective function based on Nonnegative Matrix Factorization (NMF) with their corresponding Kullback-Leibler divergence of data distribution as the regularization term. Via exploiting the joint probabilistic distribution of data, LSPH can automatically learn the latent information and successfully preserve the structure of highdimensional data. To further achieve robust performance with complex and nonlinear data, in this paper, we also contribute a more generalized multi-layer LSPH (ML-LSPH) framework, in which hierarchical representations can be effectively learned by a multiplicative up-propagation algorithm. Once obtaining the latent representations, the hash functions can be easily acquired through multi-variable logistic regression. Experimental results on three large-scale retrieval datasets, i.e., SIFT 1M, GIST 1M and 500 K TinyImage, show that ML-LSPH can achieve better performance than the singlelayer LSPH and both of them outperform existing hashing techniques on large-scale data.

Recognizing RGB images from RGB-D data is a promising application, which significantly reduces the cost while can still retain high recognition rates. However, existing methods still suffer from the domain shifting problem due to conventional surveillance cameras and depth sensors are using different mechanisms. In this paper, we aim to simultaneously solve the above two challenges: 1) how to take advantage of the additional depth information in the source domain? 2) how to reduce the data distribution mismatch between the source and target domains? We propose a novel method called adaptive Visual- Depth Embedding (aVDE) which learns the compact shared latent space between two representations of labeled RGB and depth modalities in the source domain first. Then the shared latent space can help the transfer of the depth information to the unlabeled target dataset. At last, aVDE models two separate learning strategies for domain adaptation (feature matching and instance reweighting) in a unified optimization problem, which matches features and reweights instances jointly across the shared latent space and the projected target domain for an adaptive classifier. We test our method on five pairs of datasets for object recognition and scene classification, the results of which demonstrates the effectiveness of our proposed method.

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