Return to search results
Data for Filtering Organized 3D Point Clouds for Bin Picking Applications
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.
Complete Metadata
| @type | dcat:Dataset |
|---|---|
| accessLevel | public |
| bureauCode |
[
"006:55"
]
|
| contactPoint |
{
"fn": "Marek Franaszek",
"hasEmail": "mailto:marek.franaszek@nist.gov"
}
|
| 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. |
| distribution |
[
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "3D organized point cloud of bin filled with parts C",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_xyz.mat"
},
{
"title": "ReadMe",
"format": "text",
"mediaType": "text/plain",
"description": "Brief description how to access data in this repository",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/ReadMe.txt"
},
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Contains organized 3D point cloud for part A",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_xyz.mat"
},
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Organized 3D point cloud for bin with part B",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_xyz.mat"
},
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Organized 3D point cloud of a bin filled with parts D",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_xyz.mat"
},
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Organized 3D point cloud of bin filled with parts E",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_xyz.mat"
},
{
"title": "Bin filled with parts",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Organized 3D point cloud of bin filled with parts F",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_xyz.mat"
},
{
"title": "Bin filled with parts",
"format": "RGB image",
"mediaType": "image/png",
"description": "RGB image of bin filled with parts C",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_rgb.png"
},
{
"title": "Bin filled with parts",
"format": "RGB image",
"mediaType": "image/png",
"description": "RGB image of bin filled with parts D",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_rgb.png"
},
{
"title": "Bin filled with parts",
"format": "RGB image",
"mediaType": "image/png",
"description": "RGB image of bin filled with parts E",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_rgb.png"
},
{
"title": "Bin filled with parts",
"format": "RGB image",
"mediaType": "image/png",
"description": "RGB image of bin filled with parts F",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_rgb.png"
},
{
"title": "Bin filled with parts",
"format": "rgb image",
"mediaType": "image/png",
"description": "RGB image of bin with part A",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_rgb.png"
},
{
"title": "Bin filled with parts",
"mediaType": "image/png",
"description": "RGB image of bin with parts B",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_rgb.png"
},
{
"title": "Empty bin",
"format": "Matlab data file",
"mediaType": "application/octet-stream",
"description": "Unorganized 3D point cloud representing an empty bin",
"downloadURL": "https://data.nist.gov/od/ds/mds2-3138/regSubSmplPntCld.mat"
}
]
|
| identifier | ark:/88434/mds2-3138 |
| issued | 2024-03-19 |
| keyword |
[
"3D point cloud",
"filtering 3D data for bin picking",
"stochastic outlier removal"
]
|
| language |
[
"en"
]
|
| license | https://www.nist.gov/open/license |
| modified | 2023-12-27 00:00:00 |
| programCode |
[
"006:045"
]
|
| publisher |
{
"name": "National Institute of Standards and Technology",
"@type": "org:Organization"
}
|
| theme |
[
"Manufacturing:Process improvement",
"Manufacturing:Robotics in manufacturing"
]
|
| title | Data for Filtering Organized 3D Point Clouds for Bin Picking Applications |
