CIN 2D+3D Object Classification Dataset
This dataset contains segmented color and depth images of objects from 18 categories of common household and office objects. Each object was recorded using a high-resolution color camera and a time-of-flight range sensor. Objects were rotated using a turn table and snapshots taken every 20 degrees.
Download
PointcloudsWithBackground.7z (608MB)
Loading
Color and 3D data is stored in a 3-channel PNG image each. To load a view with C++ and OpenCV use the following lines:
cv::Mat colorImage = cv::imread(FILENAME_COLOR, -1);
cv::Mat xyzImage_16U3 = cv::imread(FILENAME_XYZ, -1);
cv::Mat xyzImage;
xyzImage_16U3.convertTo(xyzImage, CV_32FC3);
cv::split(xyzImage, channels);
channels[0] -= 1000.0;
channels[1] -= 1000.0;
cv::merge(channels, xyzImage);
Citation
If you find this dataset useful, please cite the following paper:
@inproceedings{Browatzki2011,
title = {Going into depth: Evaluating 2D and 3D cues for object classification on a new large-scale object dataset},
author = {Browatzki, Björn and Fischer, Jan and Graf, Birgit and Bulthoff, Heinrich H. and Wallraven, Christian},
booktitle = {Proceedings of the IEEE International Conference on Computer Vision},
doi = {10.1109/ICCVW.2011.6130385},
pages = {1189--1196},
year = {2011}
}
