BIDCD (Bosch Industrial Depth Completion Dataset)

Bosch Industrial Depth Completion Dataset (BIDCD) is an RGBD dataset for of static table-top scenes with industrial objects. The data was collected with a RealSense depth-camera mounted on a robotic arm, i.e. from multiple Points-of-View (POV), approximately 60 for each scene. We generated depth ground truth with a customized pipeline for removing erroneous depth values, and applied Multi-View geometry to fuse the cleaned depth frames and fill-in missing information. The fused scene mesh was back-projected to each POV, and finally a bi-lateral filter was applied to reduce the remaining holes.

For each scene we provide RGB, raw Depth, Ground-Truth Depth. We also provide a corresponding file-system with 3D information: our fused meshes, camera poses, and camera parameters.

A simpler dataset with a Single-Item (SI) in each scene is also provided, using fewer POV, approximately 4 for each scene.