diff --git a/rgbd_dataset_freiburg1_desk/accelerometer.txt b/rgbd_dataset_freiburg1_desk/accelerometer.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19802dfdb5956146e9c19b3b38f0e55c8cca5455
--- /dev/null
+++ b/rgbd_dataset_freiburg1_desk/accelerometer.txt
@@ -0,0 +1,11818 @@
+# accelerometer data
+# file: 'rgbd_dataset_freiburg1_desk.bag'
+# timestamp ax ay az
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diff --git a/rgbd_dataset_freiburg1_desk/depth.txt b/rgbd_dataset_freiburg1_desk/depth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad3db0465a3560bc92dd15fb300d8776cd945966
--- /dev/null
+++ b/rgbd_dataset_freiburg1_desk/depth.txt
@@ -0,0 +1,598 @@
+# depth maps
+# file: 'rgbd_dataset_freiburg1_desk.bag'
+# timestamp filename
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diff --git a/rgbd_dataset_freiburg1_desk/groundtruth.txt b/rgbd_dataset_freiburg1_desk/groundtruth.txt
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+# ground truth trajectory
+# file: 'rgbd_dataset_freiburg1_desk.bag'
+# timestamp tx ty tz qx qy qz qw
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diff --git a/rgbd_dataset_freiburg1_desk/rgb.txt b/rgbd_dataset_freiburg1_desk/rgb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f7a37b34ca04200f01166c8115ce52cd93f1f60
--- /dev/null
+++ b/rgbd_dataset_freiburg1_desk/rgb.txt
@@ -0,0 +1,616 @@
+# color images
+# file: 'rgbd_dataset_freiburg1_desk.bag'
+# timestamp filename
+1305031452.791720 rgb/1305031452.791720.png
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+# file: 'rgbd_dataset_freiburg1_desk2.bag'
+# timestamp ax ay az
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diff --git a/rgbd_dataset_freiburg1_desk2/depth.txt b/rgbd_dataset_freiburg1_desk2/depth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9d192bc73ab370ad2963920d6c757ed80681fd9
--- /dev/null
+++ b/rgbd_dataset_freiburg1_desk2/depth.txt
@@ -0,0 +1,642 @@
+# depth maps
+# file: 'rgbd_dataset_freiburg1_desk2.bag'
+# timestamp filename
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+# file: 'rgbd_dataset_freiburg1_desk2.bag'
+# timestamp tx ty tz qx qy qz qw
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diff --git a/rgbd_dataset_freiburg1_desk2/rgb.txt b/rgbd_dataset_freiburg1_desk2/rgb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ef56438e3bace9b36a6516b16ee108ab7e76e54
--- /dev/null
+++ b/rgbd_dataset_freiburg1_desk2/rgb.txt
@@ -0,0 +1,643 @@
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diff --git a/rgbd_dataset_freiburg1_room/depth.txt b/rgbd_dataset_freiburg1_room/depth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a8c4f13bdeaa5ebca5fd6a78de7230eb02d1995
--- /dev/null
+++ b/rgbd_dataset_freiburg1_room/depth.txt
@@ -0,0 +1,1363 @@
+# depth maps
+# file: 'rgbd_dataset_freiburg1_room.bag'
+# timestamp filename
+1305031910.771502 depth/1305031910.771502.png
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+# file: 'rgbd_dataset_freiburg1_room.bag'
+# timestamp tx ty tz qx qy qz qw
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diff --git a/rgbd_dataset_freiburg1_room/rgb.txt b/rgbd_dataset_freiburg1_room/rgb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8b9fe8ce86576c0353b1182546163bea569188c
--- /dev/null
+++ b/rgbd_dataset_freiburg1_room/rgb.txt
@@ -0,0 +1,1365 @@
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+# file: 'rgbd_dataset_freiburg1_room.bag'
+# timestamp filename
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diff --git a/rgbd_dataset_freiburg2_xyz/depth.txt b/rgbd_dataset_freiburg2_xyz/depth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a223cfc6de2d4107155ac245ea204b1240392b1
--- /dev/null
+++ b/rgbd_dataset_freiburg2_xyz/depth.txt
@@ -0,0 +1,3669 @@
+# depth maps
+# file: 'rgbd_dataset_freiburg2_xyz.bag'
+# timestamp filename
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diff --git a/rgbd_dataset_freiburg2_xyz/groundtruth.txt b/rgbd_dataset_freiburg2_xyz/groundtruth.txt
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+# ground truth trajectory
+# file: 'rgbd_dataset_freiburg2_xyz.bag'
+# timestamp tx ty tz qx qy qz qw
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diff --git a/rgbd_dataset_freiburg2_xyz/rgb.txt b/rgbd_dataset_freiburg2_xyz/rgb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed71bdcad88bc9d14fca2bf6f08f29e8b5571554
--- /dev/null
+++ b/rgbd_dataset_freiburg2_xyz/rgb.txt
@@ -0,0 +1,3672 @@
+# color images
+# file: 'rgbd_dataset_freiburg2_xyz.bag'
+# timestamp filename
+1311867170.462290 rgb/1311867170.462290.png
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+++ b/rgbd_dataset_freiburg2_xyz/rgb/1311867292.756178.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe037c307f646d1c6ed1663d015d2cc2b27e0901ecebbc96a16363026a8f3cdb
+size 530481
diff --git a/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt b/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bbcdde146a277ef492424f73d9e72016eb7913d0
--- /dev/null
+++ b/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt
@@ -0,0 +1,3 @@
+# accelerometer data
+# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
+# timestamp ax ay az
diff --git a/rgbd_dataset_freiburg3_long_office_household/depth.txt b/rgbd_dataset_freiburg3_long_office_household/depth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7a87e2fc93b7ecdf5f437728175f939066511fb
--- /dev/null
+++ b/rgbd_dataset_freiburg3_long_office_household/depth.txt
@@ -0,0 +1,2512 @@
+# depth maps
+# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
+# timestamp filename
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diff --git a/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt b/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt
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+# ground truth trajectory
+# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
+# timestamp tx ty tz qx qy qz qw
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diff --git a/rgbd_dataset_freiburg3_long_office_household/rgb.txt b/rgbd_dataset_freiburg3_long_office_household/rgb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6096108d276cec6f02fe8bcdceea27d8a16653ec
--- /dev/null
+++ b/rgbd_dataset_freiburg3_long_office_household/rgb.txt
@@ -0,0 +1,2588 @@
+# color images
+# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
+# timestamp filename
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