RGB-D Object Pose Tracking Dataset
Changhyun Choi, Georgia Institute of Technology, cchoi@cc.gatech.edu

This dataset contains 4 synthetic and 2 real RGB-D image sequences which were used in the experiment of the paper "RGB-D Object Tracking: A Particle Filter Approach on GPU". 

Please cite the following paper if you use this dataset:

Changhyun Choi, Henrik I. Christensen, "RGB-D Object Tracking: A Particle Filter Approach on GPU," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

@inproceedings{choi13iros_rgbdtracking,
  title = {{RGB}-D object tracking: {A} particle filter approach on {GPU}},
  booktitle = {Intelligent Robots and Systems ({IROS}), 2013 {IEEE}/{RSJ} International Conference on},
  author = {Choi, Changhyun and Christensen, Henrik I.},
  year = {2013},
  pages = {1084--1091},
}

Contents:
- /ground_truth                       directory having ground truth motion trajectories for 4 synthetic sequences
- /models                             directory containing mesh models (4 target objects and a kitchen models, all in PLY format)
- seq_synth_kinect_box_kitchen.7z     synthetic RGB-D sequence of Kinect Box object
- seq_synth_milk_kitchen.7z           synthetic RGB-D sequence of Milk object
- seq_synth_orange_juice_kitchen.7z   synthetic RGB-D sequence of Orange Juice object
- seq_synth_tide_kitchen.7z           synthetic RGB-D sequence of Tide object
- seq_real_milk_hand.7z               real RGB-D sequence of Milk object
- seq_real_tide_hand.7z               real RGB-D sequence of Tide object

In "ground_truth" directory, there are "motion" files. Each motion file is a text file in which each line is corresponding to the pose of the object at time t=line number-1. Each line has 16 floating values which are from row-major SE(3) matrix. Please note that the pose represents position and orientation of the object with respect to the camera coordinate system.

The "models" directory has a kitchen and 4 object models which were used in our work. They are PLY type, and thus they should be openned with viewers suppring PLY format (e.g. MeshLab).

Sequences contain PCD (www.pointclouds.org) format files and are compressed with 7-zip which shows high compression ratio. You can find a free 7-Zip file archiver in http://www.7-zip.org/. Each sequence has 1000 frames, such as cloud0000.pcd, cloud0001.pcd, ..., cloud0999.pcd. The number in the file name means frame number.

The default intrinsic parameters were used to set the projection matrix in OpenGL (GL_PROJECTION):
- focal length: fx, fy = 525.0
- principal point: ux = 319.5, uy = 239.5
- lens distortion: none