ElBa is composed of procedurally-generated realistic renderings, where we vary in a continuous way element shapes and colors and their distribution, to generate 30K texture images with different local symmetry, stationarity, and density of (3M) localized texels, whose attributes are thus known by construction.
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ISOD contains 2,000 manually labelled RGB-D images from 20 diverse sites, each featuring over 30 types of small objects randomly placed amidst the items already present in the scenes. These objects, typically ≤3cm in height, include LEGO blocks, rags, slippers, gloves, shoes, cables, crayons, chalk, glasses, smartphones (and their cases), fake banana peels, fake pet waste, and piles of toilet paper, among others. These items were chosen because they either threaten the safe operation of indoor mobile robots or create messes if run over.
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