Tools – Data Release
Exemplary image of the data set including different tools
The tools dataset contains 129 RGB-D frames of scenes with subsets of six different objects,
annotated with ground truth polygons for each object class.
The objects are:
- clamp
- door handle
- driller
- extension box
- stapler
- wrench
Each frame directory contains:
- XXXX_cloud.pcd: RGB-D point cloud in PCL PCD format
- XXXX_color.jpg: RGB image
- XXXX_depth.png: Depth image
- mask_YYYY.png: Binary ground truth masks for each object class
- polygons.yaml: Polygons for each object
Contact: Max Schwarz, University of Bonn (max.schwarz@uni-bonn.de)
Download (~1 GB)