UMD Clutter Dataset

This dataset consists of 3 sequences, with increasing amounts of clutter from "Clutter_01" to "Clutter_03". Each sequence contains 7 objects, with ground truth and training samples for each of these objects (viewed on a turntable) provided. All sequences contain RGB-Depth data encoded in PrimeSense OpenNI .oni format.

For instructions on how to access and playback .oni files, please download the OpenNI SDK, compile the example codes. SimpleViewer is the program that allows you to access and playback .oni files.

Target object sequences

Plastic Spoon
Blue Mug
Book
Bowl
Tissue Box
Wooden Spoon
Yellow Mug

Clutter sequences

Clutter_01, Ground truth
Clutter_02, Ground truth
Clutter_03, Ground truth

Note: Ground truth data is available at every 10th frame, i.e. frame 1, 11, 21, etc... for each clutter sequence.

Questions? Please contact cteo "at" umd dot edu