Fig. 1

Illustration of image aspect of the Zivot dataset. The images were taken in two sessions, before and after debridement, with each session consisting of three different angles relative to the ulcer surface. The top row of the sample dataset shows the RGB images, whilst the next two rows illustrate the corresponding depth and thermal maps. In the maps, the colour red represents closer distances from the camera or higher temperatures in the depth and thermal maps, respectively. The colour blue indicates further distances from the camera or lower temperatures. Any pixel with no available value is shown in black, indicating missing data