Yale-cmu-berkeley & BigBIRD

Yale-cmu-berkeley

文章： Yale-CMU-Berkeley dataset for robotic manipulation research

1. 数据库组成

每个物体有：

(1)  600张高清晰的RGB图像（像素：4272*2848）

(2)  600张RGBD图像（像素：rgb:1280*1024; depth: 640*480)

(3)  five sets of textured three-dimensional geometric models

(4) Segmentation masks and calibration information for each image

2. 相机型号：

These data are acquired using the BigBIRD Object  Scanning Rig and Google Scanners

（1） BigBIRD Object Scanning Rig

该装置由五对相机组成： five 12.2 megapixel Canon Rebel T3 RGB cameras and five PrimeSense Carmine 1.08 RGB-D sensors， 这五对相机成四分之一圆弧放置；

The Canon Rebel T3s have APS-C sensors (22.0 mm × 14.7 mm), a pixel size of 5.2 mm, and are equipped with EF-S 18-55mm f/3.5-5.6 IS lenses.

3. 下载方式与相关网站

（1） Together with the dataset, Python scripts and a Robot Operating System node are provided to download the data, generate point clouds and create Unified Robot Description Files

（2）网站

www.ycbbenchmarks.org

http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/

BigBIRD

http://rll.berkeley.edu/bigbird/

文章： BigBIRD: A Large-Scale 3D Database of Object Instances

objects, we provide:

• 600 12 megapixel images, sampling the viewing hemisphere
• 600 registered RGB-D point clouds from a Carmine 1.09 sensor
• Pose information for each of the above images and point clouds
• Segmentation masks for each of the above images (and segmented point clouds)
• Merged point clouds consisting of data from all 600 viewpoints
• Reconstructed meshes from the merged point clouds
•