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opencc-by-4.0Feb 2019View details →

YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera.  This dataset consists of 32 scenes that have been captured by 7 different 3D cameras, totaling 49,294 frames. This allows evaluating the sensitivity of pose estimation algorithms to the specifics of the used camera and the development of more robust algorithms that are more independent of the camera model. Vice versa, our dataset enables researchers to perform a quantitative comparison of the data from several different cameras and depth sensing technologies and evaluate their algorithms before selecting a camera for their specific task. The scenes in our dataset contain 20 different objects from the common benchmark YCB object and model set. We provide full ground truth 6DoF poses for each object, per-pixel segmentation, 2D and 3D bounding boxes and a measure of the amount of occlusion of each object. If you use this dataset in your research, please cite the following publication: T. Grenzdörffer, M. Günther, and J. Hertzberg, “YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation,” in 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31-June 4, 2020. IEEE, 2020. <pre><code>@InProceedings{Grenzdoerffer2020ycbm, title = {{YCB-M}: A Multi-Camera {RGB-D} Dataset for Object Recognition and {6DoF} Pose Estimation}, author = {Grenzd{\"{o}}rffer, Till and G{\"{u}}nther, Martin and Hertzberg, Joachim}, booktitle = {2020 {IEEE} International Conference on Robotics and Automation, {ICRA} 2020, Paris, France, May 31-June 4, 2020}, year = {2020}, publisher = {{IEEE}} }</code></pre> This paper is also available on arXiv: <a href="https://arxiv.org/abs/2004.11657">https://arxiv.org/abs/2004.11657</a>   To visualize the dataset, follow these instructions (tested on Ubuntu Xenial 16.04): <pre><code class="language-bash"># IMPORTANT: the ROS setup.bash must NOT be sourced, otherwise the following error occurs: # ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type # nvdu requires Python 3.5 or 3.6 sudo add-apt-repository -y ppa:deadsnakes/ppa # to get python3.6 on Ubuntu Xenial sudo apt-get update sudo apt-get install -y python3.6 libsm6 libxext6 libxrender1 python-virtualenv python-pip # create a new virtual environment virtualenv -p python3.6 venv_nvdu cd venv_nvdu/ source bin/activate # clone our fork of NVIDIA's Dataset Utilities that incorporates some essential fixes pip install -e 'git+https://github.com/mintar/Dataset_Utilities.git#egg=nvdu' # download and transform the meshes # (alternatively, unzip the meshes contained in the dataset # to <path to venv_nvdu>/lib/python3.6/site-packages/nvdu/data/ycb/aligned_cm) nvdu_ycb -s # run nvdu_viz to visualize the dataset cd <a subdirectory of the YCB-M dataset with some frames> nvdu_viz --name_filters '*.jpg' </code></pre> For further details, see README.md.

opencc-by-nc-sa-4.0Mar 2019View details →

Predicted soil water content (volumetric %) for 33kPa and 1500kPa suctions at 6 standard depths (0, 10, 30, 60, 100 and 200 cm) at 250 m resolution

Migrated to: <a href="https://doi.org/10.5281/zenodo.2629589">https://doi.org/10.5281/zenodo.2629589</a>

opencc-by-4.0Dec 1902View details →

FIu.'2l. —A, front \' ie \\' of right femur of Trachodon selwyni, from Red Deer river B, front _ view of _ right femnr of Iguanodon 1mantelli, from the \Veahlen of England One-sixteenth naturalsize. ¡ahead ggreat trochantel' m, third trochanter; c. inner condyle. e ' ~ in New genera and species from the Belly River Series (mid-Cretaceous)

FIu.'2l. —A, front \' ie \\' of right femur of Trachodon selwyni, from Red Deer river B, front _ view of _ right femnr of Iguanodon 1mantelli, from the \Veahlen of England One-sixteenth naturalsize. ¡ahead ggreat trochantel' m, third trochanter; c. inner condyle. e ' ~

opencc-by-nc-sa-4.0May 2019View details →

Prince Edward Island (Canada) Predictive Soil Mapping data set (30 m)

Prince Edward Island (Canada) Predictive Soil Mapping data set. Training points include: <ul> <li>soil organic matter (624 points): unit: percent, g/100g ) samples from the topsoil (0-23 cm depth),</li> <li>soil types (672 points),</li> </ul> Covariate layers include: <ul> <li>DEM derivatives (Channel_Network_Base_Level.tif, MRRTF.tif, Relative_Slope_Position.tif, Slope.tif, TWI.tif, Valley_Depth.tif, Vertical_Distance_To_Channel_Network.tif),</li> <li>landcover_2016_reclassify.tif (categorical values),</li> <li>DSS_soil_polygons.tif (soil polygons),</li> </ul> Some covariates are type numeric, some type factor. To use the pre-processed data download only the RDS file. E.g. "PEI100m.soil.rds" contains all covariates layers resampled to 100 m resolution and all training points.

Fig. 7 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 7. Macrostemum brasiliense (Fischer, 1970), larva. A. Larval habitus. B. Thoracic nota, dorsal view. C. Prosternum sclerite. D1. Foreleg. D2. Midleg. D3. Hindleg. E. Sternum VIII, IX and anal prolegs, ventral view. Scale bars: A = 1 mm; B = 0.5 mm; D1–D3, E = 0.2 mm.

Fig. 6 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 6. Macrostemum brasiliense (Fischer, 1970), larva. A. Head, dorsal view. B. Head, ventral view. C. Head, left lateral view. D. Stridulatory lines of genae, ventral view. E. Labrum, dorsal view. F. Mandibles, dorsal view. Scale bars = 0.2 mm.

Fig. 3 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 3. Macrostemum araca sp. nov., male genitalia. A. Lateral view. B. Dorsal view. C. Ventral view. D–E. Phallus, lateral view. F–G. Phallus, dorsal view. H–I. Phallus, ventral view. Scale bars: A–D = 0.2 mm; E–I = 0.1 mm.

Fig. 2 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 2. Macrostemum araca sp. nov., adult male. A. Venation of the forewing (holotype). B. Venation of the hindwing (holotype). Scale bar = 2 mm.

Fig. 5 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 5. Collection sites of Macrostemum araca sp. nov. and Macrostemum brasiliense (Fischer, 1970) and general views of some of the sampled streams and rivers. A. A map showing the collection sites of M. araca sp. nov. and M. brasiliense in the Amazon and Atlantic Forest, respectively. B. Córrego (stream) Venerando, São Paulo, collection site of M. brasiliense. – C–E. collection sites of M. araca sp. nov. C. Igarapé da (stream) Cobra, Amazonas. D. Igarapé (stream) do Jabuti, Amazonas. E. Rio (river) Aracá, Amazonas.

Fig. 4 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 4. Macrostemum araca sp. nov., female genitalia. A. Lateral view. B. Dorsal view. C. Ventral view. D. Vaginal apparatus. Scale bars: A–C = 0.2 mm; D = 0.1 mm.

Fig. 1 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 1. Macrostemum araca sp. nov., adult male. A. Dorsal habitus. B–C. Head, dorsal and frontal views. D. Forewing (holotype). E. Forewing, variation in the apical area (paratype). F. Hindwing (holotype). G. Process of sternite V. Scale bars: A, D–F = 2 mm; B–C = 0.5 mm.

Fig. 9 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 9. Macrostemum brasiliense (Fischer, 1970), pupa. A. Pupal habitus, dorsal view. B. Head, frontal view. C. Mandibles, dorsal view. D. Hook plates, dorsal view (III–VIII = abdominal segments, a = anterior, p = posterior). E. Abdominal segments IX–X, dorsal view. Scale bars: A = 2 mm; B, E = 0.05 mm; C–D = 0.2 mm.

Fig. 8 in A new species of Macrostemum Kolenati, 1859 from Brazilian Amazon and the immature stages of M. brasiliense (Fischer, 1970) (Trichoptera: Hydropsychidae)

Fig. 8. Macrostemum brasiliense (Fischer, 1970), larva; gill formula (MS = mesothorax; MT = metathorax; i–viii = abdominal segments; V = ventral gills; VL = ventrolateral gills; L = lateral gills).

opencc-by-4.0Jun 2023View details →

РИС. 2. Chicomurex kozlovi sp. nov.: A–E. Голотип ZMMU, 41,5 мм, ракурсы: вентральный (A) дорсальный (B), справа (C), слева (D), апикальный (E); F–J. Паратип 1 IBSS, 33,1 мм, ракурсы: вентральный (F) дорсальный (G), справа (H), слева (I), апикальный (J); K–O. Паратип 2 CKE, 37,9 mm: ракурсы: вентральный (K) дорсальный (L), справа (M), слева (N), апикальный (O). in A new species of Chicomurex (Gastropoda, Muricidae) from the Saya de Malha Bank, Western Indian Ocean

РИС. 2. Chicomurex kozlovi sp. nov.: A–E. Голотип ZMMU, 41,5 мм, ракурсы: вентральный (A) дорсальный (B), справа (C), слева (D), апикальный (E); F–J. Паратип 1 IBSS, 33,1 мм, ракурсы: вентральный (F) дорсальный (G), справа (H), слева (I), апикальный (J); K–O. Паратип 2 CKE, 37,9 mm: ракурсы: вентральный (K) дорсальный (L), справа (M), слева (N), апикальный (O).

Fig. 46. Partial truncated map for Central and South America with species distributions for the M in Taxonomic notes on social wasps of the groups of Mischocyttarus wagneri (Buysson 1908) and M. barbatus Richards 1945 (Hymenoptera, Vespidae, Polistinae)

Fig. 46. Partial truncated map for Central and South America with species distributions for the M. barbatus group, and with the pooled distribution of the group of M. wagneri (see next figure for detailed representation of distributions of species of this group).

Fig. 47 in Taxonomic notes on social wasps of the groups of Mischocyttarus wagneri (Buysson 1908) and M. barbatus Richards 1945 (Hymenoptera, Vespidae, Polistinae)

Fig. 47. Map detail of southeastern South America (with partial view of some Brazilian states) with species distributions for the M. wagneri group. MG: Minas Gerais, RJ: Rio de Janeiro, SP: São Paulo, PR: Paraná, SC: Santa Catarina, RS: Rio Grande do Sul.

Fig. 45 in Taxonomic notes on social wasps of the groups of Mischocyttarus wagneri (Buysson 1908) and M. barbatus Richards 1945 (Hymenoptera, Vespidae, Polistinae)

Fig. 45. Scattergram of ratio variables for two species of the group of M. barbatus. X axis – LSI LMS (length of first metasomal segment over length of mesoscutum); Y axis – W wSI (apical with over basal width of first metasomal segment); black filled circles are M. mixtus; all other symbols are M. barbatus: gray asterisk (Panama); open circle (northwestern Venezuela); red crosses (northwestern Colombia); pink filled squares (southwestern Colombia); gray filled diamond (western Colombia, Pacific slope); open square (midwestern Colombia).

Figs. 1–4 in Taxonomic notes on social wasps of the groups of Mischocyttarus wagneri (Buysson 1908) and M. barbatus Richards 1945 (Hymenoptera, Vespidae, Polistinae)

Figs. 1–4. Measurements. (1) Clypeus: height (HCLP) and width (WCLP), and free upper element of lateral margin (flm); (2) pronotal carina width (WCAR), and mesoscutum length (LMS) and width (WMS); (3) mesopleuron height (HMP); (4) front wing discal cell length (LDIS).

Figs. 5–18. 5–7 in Taxonomic notes on social wasps of the groups of Mischocyttarus wagneri (Buysson 1908) and M. barbatus Richards 1945 (Hymenoptera, Vespidae, Polistinae)

Figs. 5–18. 5–7: frontal–dorsal view of anterior face of pronotum showing secondary margin (arrow) in M. barbatus (5), M. mixtus (6), M. wagneri (7); 8–10: same structures and species in dorsal view; 11–12: mesial view of fore coxa showing raised basal margin (arrow) in M. mixtus (11), M wagneri (12); 13–14: inner (larger) hind tarsal claw (arrow) in M. mixtus (13, lateral) and M. barbatus (14, ventral); 15: hind tarsus of M. wagneri (a), M. mourei (b), M. proximus (c), M. camanducaia sp. nov. (d), M. declaratus (e); 16–18: nests of M. proximus (16), M. wagneri (17), M. barbatus (18); all scales = 0.50 mm, except in Fig. 18 (= 10 mm); groups of figs. (5–7), (8–10), (11–12), (13–14) share the same scale.