This page provides a RGB-D Segmentation dataset with groundtruth acquired with a Microsoft Kinect device. The dataset includes 5 (+ 1 for the background) categories of common grocery products such as packets of biscuits, juice bottles, coffee cans and boxes of salt, of different brands and colors. The training set includes 3 model views for each category, while the testing scenes are 16, including a high degree of clutter and occlusions. Thanks to the deployed device, this dataset includes both color and depth. It also includes ground-truth, i.e. the correct label to be assigned to each point of the test set.