BigBIRD

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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."