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Data sets
Lars Kunze edited this page Oct 31, 2013
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This page provides the training data for both real and simulated scenes and also describes the format of the data sets.
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Simulated data:
-
Real-world data:
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KTH office desks
The training data is described in JSON (http://en.wikipedia.org/wiki/JSON), a human-readable text format to transmit data objects consisting of key:value pairs.
The file contains a list of scenes whereby each scene is represented by at least the following data structures:
-
scene_id, a unique identifier for the scene -
objects, list of object IDs for objects that are present in the scence. The IDs are used as a key to retrieve the information about an object from all other data structures. The ID is not consistent across different scenes. -
type, a dictionary for ID:type pairs denotes the type of an object. -
position, a dictionary for ID:position pairs. The position is given in the coordinate frame of the table, whereby the bottom-left corner of the table resembles the origin. -
orientation, a dictionary for ID:orientation pairs. The orientation is represented as a quaternion in the reference frame of the table. -
bbox, a dictionary for ID:bbox pairs. The bounding box (bbox) is given by eight points (x,y,z) in the reference frame of the table.
In addition to the above mentioned data structures, a scene description might contain more information. This additional information depends on the origin of the data.
For the real-world data, a scene description also includes the following data:
-
front-face, a dictionary for ID:front-face pairs. The front-face is a subset of the bounding box, denoting the intrinsic front face of an object. -
tableID, a unique ID for the table. This ID is identical across scenes. -
tableType, a type description of the table. Examples include: StudentDesk,ProfessorDesk, and StaffDesk. -
date, the date and time when the data collection took place. The format is as follows:YYYY:MM:DD HH:MM. This timestamp is identical for all scenes collected in a single data collection run.
For the simulated data, a scene description also includes the following data:
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tablePose, the position and orientation of the table in the world frame. -
cameraPose, the position and orientation of the camera view in the world frame.
The following example includes the mandatory data structures for one scene.
[
{
"scene_id": "scene1",
"type": {
"monitor": "Monitor",
"cup": "Cup",
"keyboard": "Keyboard",
"pencil": "Pencil",
"telephone": "Telephone",
"pc": "PC"
},
"orientation": {
"monitor": [
0.9989563872446908,
0.0,
0.0,
0.04567424200832827
],
"cup": [
0.6135444651092773,
0.0,
0.0,
0.7896601733237981
],
"keyboard": [
0.9960360851196927,
0.0,
0.0,
0.08895008229021645
],
"pencil": [
-0.6901722579088913,
0.0,
0.0,
0.7236451163470551
],
"telephone": [
0.9998801896319474,
0.0,
0.0,
0.015479224191834938
],
"pc": [
0.9996278322010864,
0.0,
0.0,
0.02727997597060249
]
},
"position": {
"monitor": [
0.2808067798614502,
0.8186612129211426,
0.2287198305130005
],
"cup": [
0.29055213928222656,
1.423274040222168,
0.0857805609703064
],
"keyboard": [
0.6437058448791504,
0.8054618835449219,
0.02877497673034668
],
"pencil": [
0.8851318359375,
0.7548675537109375,
0.0085601806640625
],
"telephone": [
0.6974833011627197,
0.4091925621032715,
0.0903427004814148
],
"pc": [
0.3361496925354004,
0.384305477142334,
0.24617063999176025
]
},
"bbox": {
"monitor": [
[
0.17071890830993652,
0.5517492294311523,
0.004999995231628418
],
[
0.17071890830993652,
0.5517492294311523,
0.45243966579437256
],
[
0.12404227256774902,
1.0611200332641602,
0.45243966579437256
],
[
0.12404227256774902,
1.0611200332641602,
0.004999995231628418
],
[
0.43757128715515137,
0.576202392578125,
0.004999995231628418
],
[
0.43757128715515137,
0.576202392578125,
0.45243966579437256
],
[
0.39089465141296387,
1.0855731964111328,
0.45243966579437256
],
[
0.39089465141296387,
1.0855731964111328,
0.004999995231628418
]
],
"cup": [
[
0.3886749744415283,
1.3467788696289062,
0.004999995231628418
],
[
0.3886749744415283,
1.3467788696289062,
0.16656112670898438
],
[
0.24104976654052734,
1.309129238128662,
0.16656112670898438
],
[
0.24104976654052734,
1.309129238128662,
0.004999995231628418
],
[
0.3400545120239258,
1.5374188423156738,
0.004999995231628418
],
[
0.3400545120239258,
1.5374188423156738,
0.16656112670898438
],
[
0.1924293041229248,
1.4997692108154297,
0.16656112670898438
],
[
0.1924293041229248,
1.4997692108154297,
0.004999995231628418
]
],
"keyboard": [
[
0.5719075202941895,
0.5088963508605957,
0.004999995231628418
],
[
0.5719075202941895,
0.5088963508605957,
0.05254995822906494
],
[
0.4729793071746826,
1.0583620071411133,
0.05254995822906494
],
[
0.4729793071746826,
1.0583620071411133,
0.004999995231628418
],
[
0.8144323825836182,
0.5525617599487305,
0.004999995231628418
],
[
0.8144323825836182,
0.5525617599487305,
0.05254995822906494
],
[
0.7155041694641113,
1.102027416229248,
0.05254995822906494
],
[
0.7155041694641113,
1.102027416229248,
0.004999995231628418
]
],
"pencil": [
[
0.8866786956787109,
0.8634657859802246,
0.004999995231628418
],
[
0.8866786956787109,
0.8634657859802246,
0.012120306491851807
],
[
0.8938477039337158,
0.863126277923584,
0.012120306491851807
],
[
0.8938477039337158,
0.863126277923584,
0.004999995231628418
],
[
0.877265453338623,
0.6647830009460449,
0.004999995231628418
],
[
0.877265453338623,
0.6647830009460449,
0.012120306491851807
],
[
0.8844344615936279,
0.6644434928894043,
0.012120306491851807
],
[
0.8844344615936279,
0.6644434928894043,
0.004999995231628418
]
],
"telephone": [
[
0.630591869354248,
0.35100269317626953,
-0.012934625148773193
],
[
0.630591869354248,
0.35100269317626953,
0.15775072574615479
],
[
0.6271209716796875,
0.4630756378173828,
0.15775072574615479
],
[
0.6271209716796875,
0.4630756378173828,
-0.012934625148773193
],
[
0.7880260944366455,
0.3558783531188965,
-0.012934625148773193
],
[
0.7880260944366455,
0.3558783531188965,
0.15775072574615479
],
[
0.784555196762085,
0.46795129776000977,
0.15775072574615479
],
[
0.784555196762085,
0.46795129776000977,
-0.012934625148773193
]
],
"pc": [
[
0.11110544204711914,
0.2659010887145996,
0.004999935626983643
],
[
0.11110544204711914,
0.2659010887145996,
0.4873412847518921
],
[
0.0995481014251709,
0.4774947166442871,
0.4873412847518921
],
[
0.0995481014251709,
0.4774947166442871,
0.004999935626983643
],
[
0.5727512836456299,
0.29111623764038086,
0.004999935626983643
],
[
0.5727512836456299,
0.29111623764038086,
0.4873412847518921
],
[
0.5611939430236816,
0.5027098655700684,
0.4873412847518921
],
[
0.5611939430236816,
0.5027098655700684,
0.004999935626983643
]
]
},
"objects": [
"monitor",
"pc",
"keyboard",
"pencil",
"telephone",
"cup"
]
}
]