The FR3DK data set was collected by Florin Schimbinschi in March 2013 at the
Institution of Artificial Intelligence and Cognitive Engineering:
ALICE http://www.rug.nl/research/alice/ and is licensed under the
Creative Commons Attribution 4.0 International License.
To view a copy of this license, visit
FR3DK was recorded using software part of the PCL library
FR3DK contains 3D scans of 18 subjects (16 with two repeats also
There are 6 types of variance changes for each subject, including
The file format is ASCII test PCD file and can be viewed using the PCL
Source code for viewing an entire folder of such files and
for recording new data is also included with this dataset.
For complete details on how the dataset was recorded please see:
Please consider sharing your recorded data with the community.
The dataset can be found here: