The most used pre-trained networks for computer vision (e.g. ResNet50) are trained on 3 channels (RGB). At the same time, many cameras used in robotics return RGB-D outputs, that is including depth information.
Fine tuning 3-channels pre-trained network on RGB-D outputs force us to give up one of the channels. Instead, is there a publicly available vision pre-trained network trained on RGB-D (4) channels?