Add dataset card

README.md

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 ---
 license: cc-by-4.0
+pretty_name: Minimal Texture Dataset for RGB-D SLAM
+tags:
+  - slam
+  - rgbd
+  - visual-odometry
+  - robotics
+  - realsense
 ---
+
+# Minimal Texture Dataset for RGB-D SLAM
+
+RGB-D sequences recorded with an Intel RealSense D435i over low-texture conceptual-geometry and
+sand scenes at DLR (German Aerospace Center), with millimeter-accurate ground truth from a Vicon
+motion-capture system. The dataset was introduced for the evaluation of
+[SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM](https://ieeexplore.ieee.org/document/10058038)
+(IEEE RA-L, 2023).
+
+This repository is the authoritative re-upload of the dataset previously published on
+[Zenodo (10.5281/zenodo.10453700)](https://zenodo.org/records/10453700), regenerated from the
+original recordings. It extends the published set with the full first recording session and the
+previously unpublished easy sequences.
+
+- Homepage: https://www.dlr.de/en/rm/research/publications-and-downloads/datasets/minimal-texture-dataset-for-rgb-d-slam
+- Integrated in [VSLAM-LAB](https://github.com/VSLAM-LAB/VSLAM-LAB) as dataset `minimal`
+
+## Contents
+
+Sequences are grouped by recording day:
+
+- `10-08/` — first session, 2021-10-08 (15 sequences: parallel_lines, circles, hexagon, triangle,
+  deformation_model, sand, square_with_circles, and loop variants)
+- `10-14/` — second session, 2021-10-14 (18 sequences: the 14 published on Zenodo — triangle,
+  circle, square, hexagon, dodecagon, lines, the three circle_* loop sequences, sand_rocks — plus
+  forward_backward_01, circle_only_01, lru_01 and ardea_01)
+
+Each sequence ships two files:
+
+- `<day>/<name>.bag` — ROS1 bag (bz2-compressed) with the RealSense D435i streams:
+  - `/camera/color/image_raw` — rgb8, 1280x720 @ 30 Hz
+  - `/camera/aligned_depth_to_color/image_raw` — 16UC1 depth aligned to color, millimeters, 1280x720 @ 30 Hz
+  - `/camera/color/camera_info`, `/camera/aligned_depth_to_color/camera_info` — intrinsics
+  - `/camera/imu` — ~200 Hz (camera-to-IMU extrinsics not included)
+  - `/camera/extrinsics/depth_to_color`
+- `<day>/<name>_groundtruth.txt` — Vicon ground-truth trajectory in TUM format
+  (`timestamp[s] tx ty tz qx qy qz qw`), evaluation-ready, same clock as the bag.
+
+`T_vicon_camera.txt` (repo root) holds the Vicon-marker to `camera_color_optical_frame` extrinsic.
+
+## Calibration
+
+Color intrinsics (identical for both sessions, zero distortion / plumb_bob, 1280x720):
+
+```
+fx = 908.479248  fy = 907.841919
+cx = 650.889160  cy = 364.692657
+```
+
+The aligned depth stream shares these intrinsics by construction. Depth in meters = value / 1000.
+
+## Citation
+
+```bibtex
+@article{fontan2023sid,
+  title={{SID-SLAM}: Semi-Direct Information-Driven {RGB-D SLAM}},
+  author={Font{\'a}n, Alejandro and Giubilato, Riccardo and Oliva, Laura and Civera, Javier and Triebel, Rudolph},
+  journal={IEEE Robotics and Automation Letters},
+  volume={8},
+  number={10},
+  pages={6387--6394},
+  year={2023}
+}
+```
+
+## License
+
+[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)