diff --git a/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt b/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt
deleted file mode 100644
index bbcdde146a277ef492424f73d9e72016eb7913d0..0000000000000000000000000000000000000000
--- a/rgbd_dataset_freiburg3_long_office_household/accelerometer.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-# accelerometer data
-# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
-# timestamp ax ay az
diff --git a/rgbd_dataset_freiburg3_long_office_household/depth.txt b/rgbd_dataset_freiburg3_long_office_household/depth.txt
deleted file mode 100644
index e7a87e2fc93b7ecdf5f437728175f939066511fb..0000000000000000000000000000000000000000
--- a/rgbd_dataset_freiburg3_long_office_household/depth.txt
+++ /dev/null
@@ -1,2512 +0,0 @@
-# depth maps
-# file: 'rgbd_dataset_freiburg3_long_office_household.bag'
-# timestamp filename
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-1341848015.5904 -1.0397 -1.0513 1.2016 0.6913 0.6082 -0.2391 -0.3083
-1341848015.5998 -1.0404 -1.0516 1.2015 0.6885 0.6111 -0.2403 -0.3077
-1341848015.6099 -1.0408 -1.0518 1.2013 0.6873 0.6138 -0.2396 -0.3058
-1341848015.6201 -1.0414 -1.0518 1.2011 0.6851 0.6159 -0.2408 -0.3054
-1341848015.6298 -1.0422 -1.0518 1.2009 0.6829 0.6183 -0.2416 -0.3049
-1341848015.6412 -1.0430 -1.0517 1.2006 0.6808 0.6202 -0.2432 -0.3045
-1341848015.6498 -1.0436 -1.0518 1.2002 0.6791 0.6220 -0.2443 -0.3038
-1341848015.6599 -1.0440 -1.0520 1.1999 0.6769 0.6248 -0.2448 -0.3025
-1341848015.6703 -1.0445 -1.0521 1.1996 0.6751 0.6266 -0.2461 -0.3018
-1341848015.6798 -1.0451 -1.0524 1.1995 0.6728 0.6286 -0.2476 -0.3016
-1341848015.6899 -1.0457 -1.0526 1.1994 0.6704 0.6304 -0.2496 -0.3015
-1341848015.6998 -1.0464 -1.0526 1.1994 0.6679 0.6319 -0.2517 -0.3019
-1341848015.7098 -1.0469 -1.0526 1.1996 0.6656 0.6339 -0.2530 -0.3019
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diff --git a/rgbd_dataset_freiburg3_long_office_household/rgb.txt b/rgbd_dataset_freiburg3_long_office_household/rgb.txt
deleted file mode 100644
index 6096108d276cec6f02fe8bcdceea27d8a16653ec..0000000000000000000000000000000000000000
--- a/rgbd_dataset_freiburg3_long_office_household/rgb.txt
+++ /dev/null
@@ -1,2588 +0,0 @@
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