High-Resolution Stereo Scans of 100 Sorghum Panicles

This dataset contains stereo images, depth data, camera position/orientation, and camera information for 100 sorghum panicles (the seed-bearing head of the sorghum stalk), as well as semantic segmentation labels for a subset of the data. The 100 sampled sorghum stalks are drawn from 10 different species, in groups of 10. For image capture an illumination-invariant flash camera developed at CMU was swept around the panicle using a UR5 robotic arm, and approximately 150 image pairs were captured for each panicle, giving a full 3D view of each stalk.