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