Evaluating 3D Depth Sensors: A Study and an Open Source Data Set of Logistic Scenarios*

In logistic environments, diverse applications, reaching from robotics to monitoring and quality assess-ment, benefit from depth information processing. In addition, multiple depth image cameras have been introduced to the market which differ widely in the used imaging technology, quality and price. In this paper, an open source data set is presented, containing calibrated and timely synchronized real world data from seven different depth imaging sensors, including a quantitative evaluation of the quality of each used sensor, in multiple logistic scenarios.