PCL Developers blog

TOCS Datasets

As required by Toyota, we started recording a series of typical household scenes. We currently have collected 30 recordings using an Asus Xtion Pro camera. One can easily download them by the following command:

svn co http://svn.pointclouds.org/data/Toyota

Those datasets are mainly meant to represent realistic situations that a personal robot might face in an undirected human environment. All of the scenes are recorded starting from a distance of about 3-4 meters from the main subject and getting close and rotating around it, in order to simulate the behavior of a robot and to capture most of the artifacts that the PrimeSense cameras present.

These are split into the following categories:

  • Bed Sheets - 3 styles of bed sheets in bedrooms:

    • bed_sheets/style_1/ - 152 frames

      ../../_images/bed_sheets__style_1.png
    • bed_sheets/style_2/ - 205 frames

      ../../_images/bed_sheets__style_2.png
    • bed_sheets/style_3/ - 240 frames

      ../../_images/bed_sheets__style_3.png
  • Bottles - 2 layouts on a table in the kitchen

    • bottles/set_1/ - 180 frames

      ../../_images/bottles__set_1.png
    • bottles/set_2/ - 260 frames

      ../../_images/bottles__set_2.png
  • Door Handles - 5 styles of indoor/outdoor door handles

    • door_handles/style_1/ - 200 frames

      ../../_images/door_handles__style_1.png
    • door_handles/style_/ - 330 frames

      ../../_images/door_handles__style_2.png
    • door_handles/style_3/ - 232 frames

      ../../_images/door_handles__style_3.png
    • door_handles/style_4/ - 199 frames

      ../../_images/door_handles__style_4.png
    • door_handles/style_5/ - 256 frames

      ../../_images/door_handles__style_5.png
  • Glasses - one recording for opaque mugs and one for transparent glasses in the kitchen

    • glasses/opaque/ - 246 frames

      ../../_images/glasses__opaque.png
    • glasses/transparent/ - 364 frames

      ../../_images/glasses__transparent.png
  • Keyboards - 4 different laptop keyboards on an office desk + 2 desktop computers

    • keyboards/laptop_1 - 249 frames

      ../../_images/keyboards__laptop_1.png
    • keyboards/laptop_2 - 220 frames

      ../../_images/keyboards__laptop_2.png
    • keyboards/laptop_3 - 157 frames

      ../../_images/keyboards__laptop_3.png
    • keyboards/laptop_4 - 221 frames

      ../../_images/keyboards__laptop_4.png
    • keyboards/desktop_1 - 201 frames

      ../../_images/keyboards__desktop_1.png
    • keyboards/desktop_2 - 266 frames

      ../../_images/keyboards__desktop_2.png
  • Office Chairs - 1 recording

    • office_chairs/set_1/ - 288 frames

      ../../_images/office_chairs__set_1.png
  • Wired Telephones - 1 recording

    • wired_telephones/set_1/ - 198 frames

      ../../_images/wired_telephones__set_1.png
  • Shoes - 2 recordings

    • shoes/single/ - 275 frames

      ../../_images/shoes__single.png
    • shoes/multiple/ - 200 frames

      ../../_images/shoes__multiple.png
  • Tupperware - 3 recordings of tupperware on the kitchen table

    • tupperware/single/ - 358 frames

      ../../_images/tupperware__single.png
    • tupperware/multiple/ - 337 frames

      ../../_images/tupperware__multiple.png
    • tupperware/stacked/ - 286 frames

      ../../_images/tupperware__stacked.png
  • Books - 0 recordings right now :-(

  • Other - 5 other recordings I found interesting for the point cloud smoothing problem

    • other/small_windows/ - 262 frames

      ../../_images/other__small_windows.png
    • other/textured_wall/ - 219 frames

      ../../_images/other__textured_wall.png
    • other/punctured_plane/ - 176 frames

      ../../_images/other__punctured_plane.png
    • other/robotic_elevator/ - 909 frames

      ../../_images/other__robotic_elevator.png
    • other/wires_boxes/ - 168 frames

      ../../_images/other__wires_boxes.png