This RGB-D dataset is part is part of our publication Heindl, Christoph, et al. "Spatio-thermal depth correction of RGB-D sensors based on Gaussian processes in real-time." Tenth International Conference on Machine Vision (ICMV 2017). Vol. 10696. SPIE, 2018. Our capture setup consists of a RGB-D sensor looking towards a known planar object. The sensor is coupled with an electronic linear axis to adjust distance. We captured data at distances [40cm, 90cm, 10cm steps] in the temperate range of [25°C, 35°C, 1°C steps]. At each temperature/distance tuple we grabbed 50 images from both RGB and IR (aligned with RGB) sensors. We then created an artificial depth map for all RGB images utilizing the known calibration target in sight. For more information visit https://github.com/cheind/rgbd-correction