The data set contains depth-images at a resolution of 640x480 at 30Hz and a groundtruth poses obtained from a VICON system at 100Hz. The data is based on OpenNI 1.5.x.
The current version can found be at https://git-amd.tuebingen.mpg.de/cassinaj/object_tracking_dataset_v1_lfs. To fetch the data set you need to use git-lfs.
The below figure shows an image of each object in the data set.
@inproceedings{jan_ICRA_2016,
title = {Depth-based Object Tracking Using a Robust Gaussian Filter},
author = {Issac, Jan and W{\"u}thrich, Manuel and Garcia Cifuentes, Cristina and Bohg, Jeannette and Trimpe, Sebastian and Schaal, Stefan},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016},
publisher = {IEEE},
month = may,
year = {2016},
url = {http://arxiv.org/abs/1602.06157},
month_numeric = {5}
}