BigBIRD: (Big) Berkeley Instance Recognition Dataset

Contact Information

If you have any questions or feedback, please feel free to contact us at bigbird@lists.eecs.berkeley.edu.

Available Data

For each object, we provide three types of .tgz files. The data contained in each is described below, and can be downloaded from this Google Drive link.

Raw RGB-D (object_name/rgbd.tgz)

The "Raw RGB-D" file (object_name/rgbd.tgz) contains:
  • For each of 5 RGB-D sensors and 120 turntable positions (600 total):
    • raw depth maps (e.g. "NP2_60.h5", in 100um)
    • raw RGB images (e.g. "NP2_60.jpg") from the Primesense sensors
    • segmentation masks for the RGB images (e.g. "masks/NP2_60.pbm"); generated from object models, currently missing for objects for which models could not be obtained
    • turntable pose information for each image (e.g. "poses/NP5_60_pose.h5")
  • calibration information for each RGB-D sensor (RGB intrinsic matrix, IR/depth intrinsic matrix) ("calibration.h5")

Raw High Resolution RGB (object_name/highres.tgz)

The "Raw RGB" file (object_name/highres.tgz) contains:
  • For each of 5 high-resolution RGB cameras and 120 turntable positions (600 total):
    • raw RGB images (e.g. "N2_60.jpg") from the Canon cameras
    • segmentation masks for the images (e.g. "masks/N2_60.pbm"); generated from object models, currently missing for objects for which models could not be obtained
    • turntable pose information for each image (e.g. "poses/NP5_60_pose.h5")
  • calibration information for each RGB camera (RGB intrinsic matrix) ("calibration.h5")

Processed Data (object_name/processed.tgz)

The "Processed" file (object_name/processed.tgz) contains:
  • Reconstructed mesh models (e.g. "meshes/poisson.ply")
  • Textured mesh models (e.g. "textured_meshes/poisson.obj")
  • Detected chessboard corners for the turntable chessboard in the reference camera's images (e.g. "corners/NP5_60_corners.txt")
  • For each of 5 high-resolution RGB cameras and 120 turntable positions (600 total):
    • turntable pose information for each segmented cloud (e.g. "poses/NP5_60_pose.h5")
  • calibration information for each RGB camera (RGB intrinsic matrix) ("calibration.h5")

Naming

The RGB-D sensors have names of the form "NP[1-5]." The RGB cameras have names of the form "N[1-5]." The cameras are arranged in a quarter-circular arc, and the overhead position is labeled 5, and the lowest-to-the-ground position is labeled 1. The names are shown in the image below. These names are used everywhere, including filenames and in calibration information.

Calibration and Pose Information

The calibration file contains the intrinsic matrix for each Canon RGB camera, and for the RGB and IR/depth cameras for each Primesense Carmine.

One of the overhead cameras is designated as the "reference camera." Currently, the reference camera for all objects is NP5. Relative transformations (given as homogeneous transformation matrices) between all cameras and the reference camera are provided in each 'calibration.h5' file. Note that different objects may have different calibration information. Using the relative transforms, one may transform points from any camera's frame into any other camera's frame.

The pose files (e.g. "poses/NP5_60_pose.h5") contain the transformation matrix from the reference camera to the turntable frame for each turntable position.

By combining the calibration relative transformations with the reference-to-table transformations, one can obtain pose information for every image or point cloud.

Terms

You may use any of the data described below for research or other non-commercial purposes.

Image Name Raw RGB-D Raw high resolution Processed
3m_high_tack_spray_adhesive RGB-D (.tgz) High res (.tgz) Processed (.tgz)
advil_liqui_gels RGB-D (.tgz) High res (.tgz) Processed (.tgz)
aunt_jemima_original_syrup RGB-D (.tgz) High res (.tgz) Processed (.tgz)
bai5_sumatra_dragonfruit RGB-D (.tgz) High res (.tgz) Processed (.tgz)
band_aid_clear_strips RGB-D (.tgz) High res (.tgz) Processed (.tgz)
band_aid_sheer_strips RGB-D (.tgz) High res (.tgz) Processed (.tgz)
blue_clover_baby_toy RGB-D (.tgz) High res (.tgz) Processed (.tgz)
bumblebee_albacore RGB-D (.tgz) High res (.tgz) Processed (.tgz)
campbells_chicken_noodle_soup RGB-D (.tgz) High res (.tgz) Processed (.tgz)
campbells_soup_at_hand_creamy_tomato RGB-D (.tgz) High res (.tgz) Processed (.tgz)
canon_ack_e10_box RGB-D (.tgz) High res (.tgz) Processed (.tgz)
cheez_it_white_cheddar RGB-D (.tgz) High res (.tgz) Processed (.tgz)
chewy_dipps_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
chewy_dipps_peanut_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
cholula_chipotle_hot_sauce RGB-D (.tgz) High res (.tgz) Processed (.tgz)
cinnamon_toast_crunch RGB-D (.tgz) High res (.tgz) Processed (.tgz)
clif_crunch_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
clif_crunch_peanut_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
clif_crunch_white_chocolate_macademia_nut RGB-D (.tgz) High res (.tgz) Processed (.tgz)
clif_z_bar_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
clif_zbar_chocolate_brownie RGB-D (.tgz) High res (.tgz) Processed (.tgz)
coca_cola_glass_bottle RGB-D (.tgz) High res (.tgz) Processed (.tgz)
coffee_mate_french_vanilla RGB-D (.tgz) High res (.tgz) Processed (.tgz)
colgate_cool_mint RGB-D (.tgz) High res (.tgz) Processed (.tgz)
crayola_24_crayons RGB-D (.tgz) High res (.tgz) Processed (.tgz)
crayola_yellow_green RGB-D (.tgz) High res (.tgz) Processed (.tgz)
crest_complete_minty_fresh RGB-D (.tgz) High res (.tgz) Processed (.tgz)
crystal_hot_sauce RGB-D (.tgz) High res (.tgz) Processed (.tgz)
cup_noodles_chicken RGB-D (.tgz) High res (.tgz) Processed (.tgz)
cup_noodles_shrimp_picante RGB-D (.tgz) High res (.tgz) Processed (.tgz)
detergent RGB-D (.tgz) High res (.tgz) Processed (.tgz)
dove_beauty_cream_bar RGB-D (.tgz) High res (.tgz) Processed (.tgz)
dove_go_fresh_burst RGB-D (.tgz) High res (.tgz) Processed (.tgz)
dove_pink RGB-D (.tgz) High res (.tgz) Processed (.tgz)
eating_right_for_healthy_living_apple RGB-D (.tgz) High res (.tgz) Processed (.tgz)
eating_right_for_healthy_living_blueberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
eating_right_for_healthy_living_mixed_berry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
eating_right_for_healthy_living_raspberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
expo_marker_red RGB-D (.tgz) High res (.tgz) Processed (.tgz)
fruit_by_the_foot RGB-D (.tgz) High res (.tgz) Processed (.tgz)
gushers_tropical_flavors RGB-D (.tgz) High res (.tgz) Processed (.tgz)
haagen_dazs_butter_pecan RGB-D (.tgz) High res (.tgz) Processed (.tgz)
haagen_dazs_cookie_dough RGB-D (.tgz) High res (.tgz) Processed (.tgz)
hersheys_bar RGB-D (.tgz) High res (.tgz) Processed (.tgz)
hersheys_cocoa RGB-D (.tgz) High res (.tgz) Processed (.tgz)
honey_bunches_of_oats_honey_roasted RGB-D (.tgz) High res (.tgz) Processed (.tgz)
honey_bunches_of_oats_with_almonds RGB-D (.tgz) High res (.tgz) Processed (.tgz)
hunts_paste RGB-D (.tgz) High res (.tgz) Processed (.tgz)
hunts_sauce RGB-D (.tgz) High res (.tgz) Processed (.tgz)
ikea_table_leg_blue RGB-D (.tgz) High res (.tgz) Processed (.tgz)
krylon_crystal_clear RGB-D (.tgz) High res (.tgz) Processed (.tgz)
krylon_low_odor_clear_finish RGB-D (.tgz) High res (.tgz) Processed (.tgz)
krylon_matte_finish RGB-D (.tgz) High res (.tgz) Processed (.tgz)
krylon_short_cuts RGB-D (.tgz) High res (.tgz) Processed (.tgz)
listerine_green RGB-D (.tgz) High res (.tgz) Processed (.tgz)
mahatma_rice RGB-D (.tgz) High res (.tgz) Processed (.tgz)
mom_to_mom_butternut_squash_pear RGB-D (.tgz) High res (.tgz) Processed (.tgz)
mom_to_mom_sweet_potato_corn_apple RGB-D (.tgz) High res (.tgz) Processed (.tgz)
motts_original_assorted_fruit RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_crunchy_oats_n_honey RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_crunchy_variety_pack RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_gluten_free_roasted_nut_crunch_almond_crunch RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_granola_thins_dark_chocolate RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_soft_baked_oatmeal_squares_cinnamon_brown_sugar RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_soft_baked_oatmeal_squares_peanut_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_sweet_and_salty_nut_almond RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_sweet_and_salty_nut_cashew RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_sweet_and_salty_nut_peanut RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nature_valley_sweet_and_salty_nut_roasted_mix_nut RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nice_honey_roasted_almonds RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_apple_cinnamon RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_blueberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_cherry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_chotolatey_crunch RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_fruit_crunch_apple_cobbler RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_fruit_crunch_strawberry_parfait RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_harvest_blueberry_bliss RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_harvest_country_strawberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_raspberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_strawberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_strawberry_greek_yogurt RGB-D (.tgz) High res (.tgz) Processed (.tgz)
nutrigrain_toffee_crunch_chocolatey_toffee RGB-D (.tgz) High res (.tgz) Processed (.tgz)
palmolive_green RGB-D (.tgz) High res (.tgz) Processed (.tgz)
palmolive_orange RGB-D (.tgz) High res (.tgz) Processed (.tgz)
paper_cup_holder RGB-D (.tgz) High res (.tgz) Processed (.tgz)
paper_plate RGB-D (.tgz) High res (.tgz) Processed (.tgz)
pepto_bismol RGB-D (.tgz) High res (.tgz) Processed (.tgz)
pop_secret_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
pop_secret_light_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
pop_tarts_strawberry RGB-D (.tgz) High res (.tgz) Processed (.tgz)
pringles_bbq RGB-D (.tgz) High res (.tgz) Processed (.tgz)
progresso_new_england_clam_chowder RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_big_chewy_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_big_chewy_peanut_butter_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_dipps_peanut_butter_chocolate RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_low_fat_chocolate_chunk RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_peanut_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_peanut_butter_chocolate_chip RGB-D (.tgz) High res (.tgz) Processed (.tgz)
quaker_chewy_smores RGB-D (.tgz) High res (.tgz) Processed (.tgz)
red_bull RGB-D (.tgz) High res (.tgz) Processed (.tgz)
red_cup RGB-D (.tgz) High res (.tgz) Processed (.tgz)
ritz_crackers RGB-D (.tgz) High res (.tgz) Processed (.tgz)
softsoap_clear RGB-D (.tgz) High res (.tgz) Processed (.tgz)
softsoap_gold RGB-D (.tgz) High res (.tgz) Processed (.tgz)
softsoap_green RGB-D (.tgz) High res (.tgz) Processed (.tgz)
softsoap_purple RGB-D (.tgz) High res (.tgz) Processed (.tgz)
softsoap_white RGB-D (.tgz) High res (.tgz) Processed (.tgz)
south_beach_good_to_go_dark_chocolate RGB-D (.tgz) High res (.tgz) Processed (.tgz)
south_beach_good_to_go_peanut_butter RGB-D (.tgz) High res (.tgz) Processed (.tgz)
spam RGB-D (.tgz) High res (.tgz) Processed (.tgz)
spongebob_squarepants_fruit_snaks RGB-D (.tgz) High res (.tgz) Processed (.tgz)
suave_sweet_guava_nectar_body_wash RGB-D (.tgz) High res (.tgz) Processed (.tgz)
sunkist_fruit_snacks_mixed_fruit RGB-D (.tgz) High res (.tgz) Processed (.tgz)
tapatio_hot_sauce RGB-D (.tgz) High res (.tgz) Processed (.tgz)
v8_fusion_peach_mango RGB-D (.tgz) High res (.tgz) Processed (.tgz)
v8_fusion_strawberry_banana RGB-D (.tgz) High res (.tgz) Processed (.tgz)
vo5_extra_body_volumizing_shampoo RGB-D (.tgz) High res (.tgz) Processed (.tgz)
vo5_split_ends_anti_breakage_shampoo RGB-D (.tgz) High res (.tgz) Processed (.tgz)
vo5_tea_therapy_healthful_green_tea_smoothing_shampoo RGB-D (.tgz) High res (.tgz) Processed (.tgz)
white_rain_sensations_apple_blossom_hydrating_body_wash RGB-D (.tgz) High res (.tgz) Processed (.tgz)
white_rain_sensations_ocean_mist_hydrating_body_wash RGB-D (.tgz) High res (.tgz) Processed (.tgz)
white_rain_sensations_ocean_mist_hydrating_conditioner RGB-D (.tgz) High res (.tgz) Processed (.tgz)
windex RGB-D (.tgz) High res (.tgz) Processed (.tgz)
zilla_night_black_heat RGB-D (.tgz) High res (.tgz) Processed (.tgz)