Incremental Object Database: Building 3D Models from Multiple Partial Observations

These datasets are intended for object detection and matching. They contain various objects in a scene, of which some are identical and can be used to match these objects among each other and complete a scene as shown in the image above. Red indicates unobserved parts in this dataset but completed from other instances, either from the same or other datasets.

The paper accompanying these data sets was submitted to IROS 2018 and will be published on arxiv shortly.

Structure of the Dataset


The datasets consists of raw sensor data recorded with a Google Tango Lenovo Phab 2 Pro combined with optimized and loop closed poses generated by the Google Tango mapping framework.

The bag information is as follows:

path:        three_chairs_teaser_20180301_040531.bag
version:     2.0
duration:    2:12s (132s)
start:       Jan 09 1970 11:11:21.28 (727881.28)
end:         Jan 09 1970 11:13:33.98 (728013.98)
size:        4.9 GB
messages:    103230
compression: none [1999/1999 chunks]
types:       geometry_msgs/TransformStamped [b5764a33bfeb3588febc2682852579b0]
             sensor_msgs/CameraInfo         [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image              [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu                [6a62c6daae103f4ff57a132d6f95cec2]
             tf2_msgs/TFMessage             [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth/camera_info       646 msgs    : sensor_msgs/CameraInfo        
             /camera/depth/image_raw         646 msgs    : sensor_msgs/Image             
             /camera/fisheye/camera_info    3834 msgs    : sensor_msgs/CameraInfo        
             /camera/fisheye/image_raw      3834 msgs    : sensor_msgs/Image             
             /camera/rgb/camera_info         646 msgs    : sensor_msgs/CameraInfo        
             /camera/rgb/image_raw           646 msgs    : sensor_msgs/Image             
             /imu0                         26743 msgs    : sensor_msgs/Imu               
             /tango/T_I_C_color            13247 msgs    : geometry_msgs/TransformStamped
             /tango/T_I_C_depth            13247 msgs    : geometry_msgs/TransformStamped
             /tango/T_I_C_fisheye          13247 msgs    : geometry_msgs/TransformStamped
             /tango_viwls/T_G_I            13247 msgs    : geometry_msgs/TransformStamped
             /tf                           13247 msgs    : tf2_msgs/TFMessage
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