| 场景 | 序列 | 简化 |
| 静态 | rgbd_dataset_freiburg1_xyz | fr1/xyz |
| rgbd_dataset_freiburg1_desk | fr1/desk | |
| rgbd_dataset_freiburg1_room | fr1/room | |
| 低动态 | rgbd_dataset_freiburg3_sitting_halfsphere | fr3/s/half |
| rgbd_dataset_freiburg3_sitting_xyz | fr3/s/xyz | |
| 高动态 | rgbd_dataset_freiburg3_walking_halfsphere | fr3/w/half |
| rgbd_dataset_freiburg3_walking_xyz | fr3/w/xyz |