MobilityAids is a dataset for perception of people and their mobility aids. The annotated dataset contains five classes: pedestrian, person in wheelchair, pedestrian pushing a person in a wheelchair, person using crutches and person using a walking frame. In total the hospital dataset has over 17, 000 annotated RGB-D images, containing people categorized according to the mobility aids they use. The images were collected in the facilities of the Faculty of Engineering of the University of Freiburg and in a hospital in Frankfurt.