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Dataset Card for Dropjects_Real
Dropjects_real is a stereo RGB-D object dataset captured at the Chair of Cyber-Physical Systems in Production Engineering at the Technical University of Munich. It contains pose, bounding box, and segmentation masks for a 9 objects organized in different scenes, clutter and lighting conditions.
Dataset Details
Subsets
You can choose any specific scene with the following pattern: "{class}-{scene}-{clutter}-{lighting}". You can also use the wildcard "{}", to choose all available options. Choose from the following:
CLASSES:
- battery_holder
- buckle_socket
- buckle_plug
- chew_toy_big
- cpsduck
- cpsglue_big
- group1 consists of cpsduck, battery_holder, chew_toy_big, cpsglue_big, stapler
- group2 consists of buckle_plug, buckle_socket, nema17_holder, nema17_holder2
- nema_holder consists of nema17_holder, nema17_holder2
- stapler
SCENES:
- box
- array only for group1 and group2, and only uncluttered
CLUTTER:
- cluttered
- uncluttered
LIGHTING:
- diffuseRight
- diffuseLeft
- spotRight
- spotLeft
- dark
- normal
Then you can load the dataset like this, for example all lighting conditions for the stapler in the box, with clutter
from datasets import load_dataset
ds = load_dataset("LukasDb/dropjects_real", "stapler-box-cluttered-{}", streaming=True, trust_remote_code=True, split='test')
for data in ds.with_format('tensorflow'):
rgb = data['rgb'] # tf.uint8 Tensor, (h,w,3)
Dataset Sources
- Repository: TBA
- Paper: TBA
Dataset Structure
TBA
Citation
BibTeX: TBA
Dataset Card Authors and Contact
Lukas Dirnberger ([email protected])
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