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25 results for “RGB-D”
First-person view RGB-D dataset
<p>We provide a varied dataset containing RGB-D data with the goal to stablish a benchmark for the evaluation of systems performing NAVI (Navigation Assistance for the Visually Impaired) based on RGB-D devices. Our dataset contains the color and depth data of an Asus XtionPro Live camera along different indoor scenarios. The data was recorded at 30Hz (full frame rate) with a 640x480 sensor resolution. All scenarios have been recorded in rosbag files and compressed in format 7z. All files contain XYZRGB point-cloud data and most of them have recorded raw images too. The RGB-D device was carried by a person in order to simulate a realistic situation.</p> <p>We also provide a set of 32 calibration images and a calibration report of the RGB-D device. The calibration was carried out with the Kinect-stereo-calib software developed by the Mobile Robot Programming Toolkit. The calibration used a 8x10 chessboard of 22.8x24.3mm squares. More details can be found in webpage:<br> http://webdiis.unizar.es/%7Eglopez</p> <p>More information about the dataset can be found in the related publication:<br> A. Aladren, G. Lopez-Nicolas, L. Puig, and J. J. Guerrero. Navigation Assistance for the Visually Impaired Using RGB-D Sensor with Range Expansion. IEEE Systems Journal, vol. 10, no. 3, pp. 922-932, Sept. 2016.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 11. Accuracy of different method for unseen faces
<p>Table 3 shows the mode detection accuracy of the proposed method and its combination with two other methods (uniform LBP and circular LBP) for different people. The overall accuracy of the proposed procedure is calculated as this way one video is chosen as input, and after mode detection the three aforementioned steps are applied on this video. The obtained feature vectors are given to the neural network and the corresponding labels to each frame are regarded as output. Afterwards, the overall accuracy is calculated from the confusion matrix. However, it should be noted that the expression detection criteria are the observation of a certain number of subsequent similar labels and in the case of observing a limited or sparse number of different labels the final label would not change. Figure 10 and 11 show result of different methods for seen and unseen data respectively. Table 4 shows results for seen data with proposed method and uniform LBP.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-
<p>Table 3 shows the mode detection accuracy of the proposed method and its combination with two other methods (uniform LBP and circular LBP) for different people. The overall accuracy of the proposed procedure is calculated as this way one video is chosen as input, and after mode detection the three aforementioned steps are applied on this video. The obtained feature vectors are given to the neural network and the corresponding labels to each frame are regarded as output. Afterwards, the overall accuracy is calculated from the confusion matrix. However, it should be noted that the expression detection criteria are the observation of a certain number of subsequent similar labels and in the case of observing a limited or sparse number of different labels the final label would not change. Figure 10 and 11 show result of different methods for seen and unseen data respectively. Table 4 shows results for seen data with proposed method and uniform LBP.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 9. Results of our facial motion capture system(a,b,c,d)
<p>In test procedures, single video feature vectors consisting of different expressions are given to the neural network and the network produces the corresponding labels for each frame as output. If there is a mode in a video which is not available in the data base, the nearest available mode's label to this mode is produced. For example, in test3 and test6 videos, the surprise expression (that have been showed with number 7) is recognized as open mouth expression. At the end, considering the certain numbers of subsequent similar labels (at least 10 frames, because the minimum number of one modes' frames is related to “rising the eyebrow” mode that takes 10 frames), the expressions are detected, and a 3D show of these expressions are represented. For instance, in test8 videos that have been obtained from unseen face, the “smiling” and “open mouth” expressions are well recognized, but expressions related to rising the eyebrows are not detected properly and all the corresponding frames to this expression are regarded as normal expression. Figure 9 shows example of generated 3D models.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 8. 3D model of some facial expressions
<p>Face region is separated precisely from video frames by using a segmentation method based on skin color. The depth data corresponding to this separated area is taken for a 3D representation from depth data corresponding to each frame. At the end, a file is prepared for each frame consisting of face points with 6 features: X, Y, depth, red, green and blue color. These data are used for producing a 3D model and a graphical avatar for each frame (Figure 7). Figure 8 shows 3D model of some facial expressions.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 6. Proposed feed-forward neural network classifier
<p>After the feature extraction stage, neural network is used for classifying the modes. In this study, the utilized expressions are normal, smiling, open mouth, rising the eyebrows, anger and pursing modes. In fact, they are some selective modes for face movements. It should be noted that the modes can be increased but in this case we work with these six modes. This paper used three layers feed-forward neural network (Figure 6). The proposed neural network includes 800 nodes for the input layer (400 nodes for U matrix and 400 nodes for V matrix), 100 nodes for the hidden layer and 6-nodes for output layer. From the collected data 70% are used for training, 15% for validation and the last 15% are used to evaluate the neural network.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 5. Examples of the circular LBP (Huang et al., 2011)
<p>One limitation of the basic LBP operator is that its small 3x3 neighborhood cannot capture dominant features with large scale structures. To deal with the texture at different scales the operator was later generalized to use neighborhoods of different sizes. A local neighborhood is defined as a set of sampling points evenly spaced on a circle which is centered at the pixel to be labeled. The sampling points that do not fall within the pixels are interpolated using bilinear interpolation, thus allowing for any radius and any number of sampling points in the neighborhood. Figure 5 shows some examples of the extended LBP operator where the notation (P, R) denotes a neighborhood of P sampling points on a circle of radius of R.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 7. Avatar 3D model generation
<p>Face region is separated precisely from video frames by using a segmentation method based on skin color. The depth data corresponding to this separated area is taken for a 3D representation from depth data corresponding to each frame. At the end, a file is prepared for each frame consisting of face points with 6 features: X, Y, depth, red, green and blue color. These data are used for producing a 3D model and a graphical avatar for each frame (Figure 7). Figure 8 shows 3D model of some facial expressions.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 3. Feature vectors of facial expression in database
<p> Figure 3 shows feature vectors of facial expression of our database. Matrices ‘U’ and ‘V’ values that are obtained from this algorithm are used as feature vectors. The ‘U’ matrix represents the position and the ‘V’ matrix represents the change of direction. In the following, the proposed method is combined with some other feature extraction methods (LBP uniform approach and LBP circular approach) and the obtained results will be mentioned.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 2. Facial expression recognition in proposed method
<p>In this stage, a video is prepared using the color data captured from Kinect camera. The face region in each frame is obtained from the video using Viola-Jones algorithm (Figure 2). Because of different distance from the Kinect camera, the obtained images from the face must be re-sized, in order to have the same size. At the end, the colored images are converted to gray-scaled images.</p>
A Facial Motion Capture System Based on Neural Network Classifier Using RGB-D Data-Figure 1. Peak of facial expression in database
<p>In this study, data are obtained from the Kinect camera that benefits from colorful images and depth data. Kinect can record colorful and depth data simultaneously at 30 frames per second. The data are collected from the person who initially pose in front of the camera with normal face mode and then the various modes are represented. It should be noted that data are obtained at different distances from the Kinect camera and in different lighting conditions. Figure 1 shows various facial modes in our database.</p>
DS6.SSSA-02. Human_Walking_Dataset_at_SSSA. Dataset for characterizing the walking behavior of subjects and identification of changes in the motion patterns, based on RGB-D cameras.
<p>This dataset is used for characterizing the wakling behavior of subjects. It is based on RGB-D camerasand obtained through data collection experiments at the premises of the Percro Labotory, TeCIP Intitute, Scuola Superiore Sant'Anna (Pisa, Italy). Data are collected for the gait patterns of 9 healthy participants.</p>
YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation
<p>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.</p> <p>If you use this dataset in your research, please cite the following publication:</p> <p>T. Grenzdörffer, M. Günther, and J. Hertzberg, “YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation,” in <em>2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31-June 4, 2020</em>. IEEE, 2020.</p> <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> <p>This paper is also available on arXiv: <a href="https://arxiv.org/abs/2004.11657">https://arxiv.org/abs/2004.11657</a></p> <p> </p> <p>To visualize the dataset, follow these instructions (tested on Ubuntu Xenial 16.04):</p> <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> <p>For further details, see README.md.</p>
WE3DS: An RGB-D image dataset for semantic segmentation in agriculture
<p>Here, we introduce a novel RGB-D image database (WE3DS) for semantic segmentation in crop farming. It contains 2,568 RGB-D images (color image and distance map) and hand-annotated ground-truth masks for semantic segmentation and is the first RGB-D image dataset for multi-class plant species semantic segmentation task. Images were taken under natural light conditions using an RGB-D sensor consisting of two RGB cameras in a stereo setup.</p> <p> </p> <p><strong>Please cite the original source when using this dataset.</strong></p> <p>Kitzler, F.; Barta, N.; Neugschwandtner, R.W.; Gronauer, A.; Motsch, V. WE3DS: An RGB-D Image Dataset for Semantic Segmentation in Agriculture. <em>Sensors</em> <strong>2023</strong>, <em>23</em>, 2713. <a href="https://doi.org/10.3390/s23052713">https://doi.org/10.3390/s23052713 </a></p>
MINDS-Libras Dataset (RGB-D sensor data)
<p>Brazilian Sign Language (Libras) data set with 20 signs for sign language and gesture recognition benchmark:<br> <br> - Acontecer (To happen)<br> - Aluno (Student)<br> - Amarelo (Yellow)<br> - América (America)<br> - Aproveitar (To enjoy)<br> - Bala (Candy)<br> - Banco (Bank)<br> - Banheiro (Bathroom)<br> - Barulho (Noise)<br> - Cinco (Five)<br> - Conhecer (To know)<br> - Espelho (Mirror)<br> - Esquina (Corner)<br> - Filho (Son)<br> - Maçã (Apple)<br> - Medo (Fear)<br> - Ruim (Bad)<br> - Sapo (Frog)<br> - Vacina (Vaccine)<br> - Vontade (Will)<br> <br> Each one of the signs was recorded 5 times by 12 signers, using a Chroma Key background. Among the signers are men and women with basic to advanced knowledge in Libras. </p> <p>The RGB-D sensor (kinect v2) available the RGB videos (1920 x 1080) and depth videos (640 x 480) in "mp4" format, and the body points and face data in "txt" file.</p> <ul> <li>The body file has seven different information (Position X, Y and Z; Orientation X, Y and Z; TrackingState; LeftHandState; RightHandState; ColorPosition X and Y; and DepthPosition X and Y) about the 25 points: (1) Spine Base, (2) Spine Mid, (3) Neck, (4) Head, (5) Shoulder Left, (6) Elbow Left, (7) Wrist Left, (8) Hand Left, (9) Shoulder Right, (10) Elbow Right, (11) Wrist Right, (12) Hand Right, (13) Hip Left, (14) Knee Left, (15) Ankle Left, (16) Foot Left, (17) Hip Right, (18) Knee Right, (19) Ankle Right, (20) Foot Right, (21) Spine Shoulder, (22) Hand Tip Left, (23) Thumb Left, (24) Hand Tip Right and (25) Thumb Right. There are 13 lines (or data) for each frame. This order is repeated sequentially up to 1950 lines (13 lines $\times$ 150 frames), representing the sign video.</li> </ul> <p> </p> <ul> <li>Regarding to the face data, the same organisation was adopted. In this case, we have seven information (FaceBox, FaceRotation, HeadPivot, AnimationUnit, FaceModel X, Y and Z; ColorFaceModel X and Y; and DepthFaceModel X and Y), describing 11 data, distributed in 1650 (11 lines $\times$ 150 frames) lines in the ``.txt'' file.</li> </ul> <p>(Former name: Libras-20)</p>
mRI: multi-modal 3d human pose estimation dataset using mmwave, rgb-d, and inertial sensors
<p>The ability to estimate 3D human body pose and movement, also known as human pose estimation~(HPE), enables many applications for home-based health monitoring, such as remote rehabilitation training. Several possible solutions have emerged using sensors ranging from RGB cameras, depth sensors, millimeter-Wave (mmWave) radars, and wearable inertial sensors. Despite previous efforts on datasets and benchmarks for HPE, few datasets exploit multiple modalities and focus on home-based health monitoring.</p> <p>To bridge this gap, we present <em>mRI</em>, a multi-modal 3D human pose estimation dataset with mmWave, RGB-D, and Inertial Sensors. Our dataset consists of over 5 million frames from 20 subjects performing rehabilitation exercises and supports the benchmarks of HPE and action detection. We perform extensive experiments using our dataset and delineate the strength of each modality.</p> <p>We hope that the release of <em>mRI</em> can catalyze the research in pose estimation, multi-modal learning, and action understanding, and more importantly, facilitate the applications of home-based health monitoring.</p>
Spatio-thermal depth correction of RGB-D sensors based on Gaussian Processes in real-time
<p>This RGB-D dataset is part is part of our publication</p> <p>Heindl, Christoph, et al. "Spatio-thermal depth correction of RGB-D sensors based on Gaussian processes in real-time." <em>Tenth International Conference on Machine Vision (ICMV 2017)</em>. Vol. 10696. SPIE, 2018.</p> <p>Our capture setup consists of a RGB-D sensor looking towards a known planar object. The sensor is coupled with an electronic linear axis to adjust distance. We captured data at distances [40cm, 90cm, 10cm steps] in the temperate range of [25°C, 35°C, 1°C steps]. At each temperature/distance tuple we grabbed 50 images from both RGB and IR (aligned with RGB) sensors. We then created an artificial depth map for all RGB images utilizing the known calibration target in sight.</p> <p>For more information visit https://github.com/cheind/rgbd-correction</p>
mmWave Radar and RGB-D Camera Sensor Data for Human Activity Recognition
<p>This is a human activity recognition dataset with measurements from both mmWave radar and camera sensor. Meanwhile, we set multiple people scenario to mimic more realistic scenes. The other dataset collected in non-LOS(line-of-sight) environment, you can visit https://zenodo.org/record/7096889#.YynBvuhBwQ8 to get it. The mmWave radar sensors used in our experiments are composed of TI IWR6843ISK-ODS, eradar ESRR(corner radar), eradar EMRR(front radar). We appreciate the support of the eradar company, that provides corner radars and front radars for us, you can visit http://en.eradartech.com/ to get more information. </p>
mRI: multi-modal 3d human pose estimation dataset using mmwave, rgb-d, and inertial sensors
Open the record for dataset details and reuse information.
mmWave Radar and RGB-D Camera Sensor Data for Human Activity Recognition(2)
<p>This is a supplementary dataset, which is linked to https://zenodo.org/record/7088054#.YyVF3ehBwQ8. The dataset is composed of corner radar point cloud data and front radar point cloud data collected from environments existing obstacles between volunteers and sensors. </p>
ScienceDex guides
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These curated guides explain access requirements, typical timelines, costs, and reuse considerations for widely used research datasets.
Allen Brain Atlas
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DANDI Archive for NWB datasets
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International Brain Laboratory public data
The International Brain Laboratory public data releases expose standardized mouse decision-making experiments, including Neuropixels recordings, widefield calcium imaging, behavior, and session metadata accessed through the ONE API.
OpenNeuro
OpenNeuro is a free, open platform for sharing neuroimaging datasets, with public search, dataset pages, and download paths for web, S3, DataLad, and the OpenNeuro CLI.