Deep Neural Networks for image/video classification have obtained much success in various computer vision applications. Existing deep learning algorithms are widely used on RGB images or video data. Meanwhile, with the development of low-cost RGB-D sensors (such as Microsoft Kinect and Xtion Pro-Live), high-quality RGB-D data can be easily acquired and used to enhance computer vision algorithms [14]. It would be interesting to investigate how deep learning can be employed for extracting and fusing features from RGB-D data. In this paper, after briefly reviewing the basic concepts of RGB-D information and four prevalent deep learning models (i.e., Deep Belief Networks (DBNs), Stacked Denoising Auto-Encoders (SDAE), Convolutional Neural Networks (CNNs) and Long Short Term Memory (LSTM) Neural Networks), we conduct extensive experiments on five popular RGB-D datasets including three image datasets and two video datasets. We then present a detailed analysis about the comparison between the learned feature representations from the four deep learning models. In addition, a few suggestions on how to adjust hyper parameters for learning deep neural networks are made in this paper. According to the extensive experimental results, we believe that this evaluation will provide insights and a deeper understanding of different deep learning algorithms for RGB-D feature extraction and fusion. (C) 2017 Elsevier Inc. All rights reserved.