BigBIRD (Big Berkeley Instance Recognition Dataset)

Introduced by Deochake et al. in BigBird: Big Data Storage and Analytics at Scale in Hybrid Cloud

BigBIRD is a 3D dataset of 125 objects, with the following data for each object:

  • 600 12 megapixel images, sampling the viewing hemisphere
  • 600 registered RGB-D point clouds from a Carmine 1.09 sensor
  • Pose information for each of the above images and point clouds
  • Segmentation masks for each of the above images (and segmented point clouds)
  • Merged point clouds consisting of data from all 600 viewpoints
  • Reconstructed meshes from the merged point clouds

Paper: ICRA 2014 "A Large-Scale 3D Database of Object Instances."

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