Multi-View Intensity-Depth Data Set for Top-View Indoor People Detection


The MULTIPLE data set covers the scenario of top-view people detection using multiple depth sensors with overlapping fields of view. The data set contains footage from an indoor office scene and is recorded from three low-resolution commodity stereo-vision-based depth sensors.

The sensors have a top-view on the scene, are mounted at a height of three meters, and have fields of view with a significant joint overlap. They cover a visible area of approximately 20 m² with up to six individual people present in the scene, entering and leaving the visible area multiple times. The data set consists of 2200 annotated frames, captured with a resolution of 376 × 240 pixel each, providing raw rectified stereo image pairs as well as disparity maps obtained by block matching. In total we annotated the ground floor locations of 10435 targets. Additionally, we associated each detection with a track to allow for full detection and tracking evaluation.

Data Set


If you use the MULTIPLE data set please cite the primary article, where MULTIPLE was introduced:

J. Wetzel, A. Laubenheimer and M. Heizmann, "Joint Probabilistic People Detection in Overlapping Depth Images", in IEEE Access, vol. 8, 2020, doi: 10.1109/ACCESS.2020.2972055 [PDF]



author={J. {Wetzel} and A. {Laubenheimer} and M. {Heizmann}},
journal={IEEE Access},
title={Joint Probabilistic People Detection in Overlapping Depth Images},

How to get the data?

If you are interested in using the data set, feel free to send your request via e-mail to isrg[@]

Please include the name of your organisiation, a contact person as well as the purpose of the usage of the data set. After accepting the licencens terms we will provide you a personlized download link.

License & Data Protection

MULTIPLE is available for free for non-commercial use under the provided »license.

The data has been collected in compliance with the law by obtaining the consent of the persons concerned under the »data protection information. Note that the consent can be withdrawn at any time and this can lead to the data being deleted by the licensee. For details see the »license.