BigBIRD: (Big) Berkeley Instance Recognition Dataset

A Large-Scale 3D Database of Object Instances

Arjun Singh, James Sha, Karthik Narayan, Tudor Achim, Pieter Abbeel

This is the website for the dataset introduced in the ICRA 2014 publication "A Large-Scale 3D Database of Object Instances." Specifically, for each of (currently) 125 objects, we provide:

Note that some objects, depending on their properties (e.g. transparency) may not have point clouds or meshes. We include them to enable others to develop methods to reconstruct point clouds and/or meshes.

We plan to continuously collect and upload objects and test scenes. As researchers use the data, we will list results and benchmarks here. If you have any results on the data that you would like listed here, please contact us (

Data can be accessed at this link.