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  4. Measured data for "A metrological and application-related comparison of six consumer grade stereo depth cameras for the use in robotics"
 
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Measured data for "A metrological and application-related comparison of six consumer grade stereo depth cameras for the use in robotics"

Citation Link: https://doi.org/10.15480/336.4225
Type
Dataset
Date Issued
2022-03-08
Author(s)
Heinemann, Michel Finn  orcid-logo
Herzfeld, Jonas 
Sliwinski, Martin  
Hinckeldeyn, Johannes  orcid-logo
Kreutzfeldt, Jochen  orcid-logo
Language
English
Institute
Technische Logistik W-6  
DOI
10.15480/336.4225
TORE-URI
http://hdl.handle.net/11420/11900
Is Supplement To
10.1109/rose56499.2022.9977421
11420/14479
Abstract
Data measured for the paper "A metrological and application-related comparison of six consumer grade stereo depth cameras for the use in robotics"

## Structure
Each directory is archived in tar archives, which are compressed with gzip. The directories / archive files contain:
- 00: results in .csv and images of the first recorded frame with projected target
- 01-06: measured data: depth and rgb stream as .avi, data as numpy arrays

## Data format
- data files contain intrinsic and extrinsic parameters as well as depth data in 'data' array
- each 'data' array in the recorded ziped numpy files has the dimension [i,j,k,3]
- i: number of frames; j: x-resolution; k: y-resolution; 3: x,y,z-components;
- the saved format is therefore not the usual point cloud format but the last layer [i,:,:,2] represents the depth image

## File names
- recorded data is named log_<camera>_<experiment number>_<file type>
- experiment numbers:
- 1: rectangle target, normal light, 0 degree, 1m
- 2: rectangle target, normal light, 0 degree, 2m
- 3: rectangle target, normal light, 0 degree, 3m
- 4: rectangle target, normal light, 0 degree, 4m
- 5: rectangle target, normal light, 0 degree, 5m
- 6: rectangle target, dark light, 0 degree, 2m
- 7: sphere target, normal light, 0 degree, 1m
- 8: sphere target, normal light, 0 degree, 2m
- 9: sphere target, normal light, 0 degree, 3m
- 10: sphere target, dark light, 0 degree, 2m
- 11: rectangle target (shiny), normal light, 0 degree, 2m
- 12: rectangle target, normal light, 20 degree, 2m
- 13: rectangle target, normal light, 40 degree, 2m
- 14: rectangle target, normal light, 60 degree, 2m
- 15: box target, normal light, 1m
Subjects
camera comparison
stereo vision
depth data
DDC Class
620: Ingenieurwissenschaften
License
https://creativecommons.org/publicdomain/zero/1.0/
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02_oak-d_pro.tar.gz

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11.57 GB

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06_zed2.tar.gz

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37.67 GB

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01_oak-d.tar.gz

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13.18 GB

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00_results.tar.gz

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17.43 MB

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readme.txt

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1.56 KB

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05_realsense_d455.tar.gz

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26.7 GB

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03_orbbec.tar.gz

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3.07 GB

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04_realsense_d435.tar.gz

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22.61 GB

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