Data for Filtering Organized 3D Point Clouds for Bin Picking Applications

Description

Contains scans of a bin filled with different parts ( screws, nuts, rods, spheres, sprockets). For each part type, RGB image and organized 3D point cloud obtained with structured light sensor are provided. In addition, unorganized 3D point cloud representing an empty bin and a small Matlab script to read the files is also provided. 3D data contain a lot of outliers and the data were used to demonstrate a new filtering technique.

Resources

Name Format Description Link
0 RGB image of bin filled with parts C https://data.nist.gov/od/ds/mds2-3138/C_rgb.png
0 3D organized point cloud of bin filled with parts C https://data.nist.gov/od/ds/mds2-3138/C_xyz.mat
0 RGB image of bin filled with parts E https://data.nist.gov/od/ds/mds2-3138/E_rgb.png
0 RGB image of bin filled with parts F https://data.nist.gov/od/ds/mds2-3138/F_rgb.png
0 Organized 3D point cloud of bin filled with parts F https://data.nist.gov/od/ds/mds2-3138/F_xyz.mat
0 Contains organized 3D point cloud for part A https://data.nist.gov/od/ds/mds2-3138/A_xyz.mat
0 RGB image of bin with part A https://data.nist.gov/od/ds/mds2-3138/A_rgb.png
0 Organized 3D point cloud for bin with part B https://data.nist.gov/od/ds/mds2-3138/B_xyz.mat
0 Organized 3D point cloud of bin filled with parts E https://data.nist.gov/od/ds/mds2-3138/E_xyz.mat
47 Brief description how to access data in this repository https://data.nist.gov/od/ds/mds2-3138/ReadMe.txt
0 Unorganized 3D point cloud representing an empty bin https://data.nist.gov/od/ds/mds2-3138/regSubSmplPntCld.mat
34 RGB image of bin with parts B https://data.nist.gov/od/ds/mds2-3138/B_rgb.png
0 RGB image of bin filled with parts D https://data.nist.gov/od/ds/mds2-3138/D_rgb.png
0 Organized 3D point cloud of a bin filled with parts D https://data.nist.gov/od/ds/mds2-3138/D_xyz.mat

Tags

  • 3d-point-cloud
  • filtering-3d-data-for-bin-picking
  • stochastic-outlier-removal

Topics

Categories