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ROBI: Reflective Objects In Bins Dataset
A multi-view dataset for reflective objects in robotic bin-picking
Reflective Objects: 7 challenging industrial objects, with different levels of reflectivity.
Bin-Picking Scenes: 63 Scenes with full-bin and low-bin scenarios.
Multiple Sensors: A high-cost Ensenso N35 depth camera, and a low-cost Intel RealSense RGB-D camera.
Multi-View Acquisition: Data is captured with up to 125 viewpoints via an EPSON C4L 6-Axis robot.
Ground Truth Poses: Annotations of ground truth poses for each object in all scenes.
Ground Truth Depth: High quality depth maps captured by the high-cost Ensenso camera with objects coated in anti-reflective scanning spray.
We provide the ground truth depth maps captured by Ensenso camera with parts coated in anti-reflective scanning spray.
Jun Yang, Dong Li, and Steven L. Waslander. Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking. IEEE Robotics and Automation Letters, presentation at the IEEE International Conference on Robotics and Automation, 2021.
Jun Yang, Yizhou Gao, Dong Li, and Steven L. Waslander. ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking. IEEE International Conference on Intelligent Robots and Systems (IROS), 2021.
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