Images of Balls Transported on a Chute - Recording 6

This data set comprises images of balls on a chute. The images were recorded on the small-scale optical belt sorter Tablesort. A thorough description of the Tablesort system can be found in

Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Jürgen Beyerer, Experimental Evaluation of a Novel Sensor-Based Sorting Approach Featuring Predictive Real-Time Multiobject Tracking, Transactions on Industrial Electronics, February 2020.

See also the project website.

This dataset is part of a batch of recordings on optical sorters. Please use the search function with the keyword "Tobias Hornberger" (in quotes) to find them.

The camera was recorded on a Bonito CL-400C. The calibration image for the extrinsic parameters can be found in calibration_extrinsics.png for the extrinsics and calibration_color.png for the color calibration. Please see the debayer script on GitHub. The frame rate is 192.9 Hz.

Algorithms for two key challenges can be developed and evaluated on the data sets:

Multitarget tracking for predicting the particle’s motion. This can be used to enhance the separation of optical sorters. For further details on this, see the publications

Florian Pfaff, Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Robin Gruna, Thomas Längle, Jürgen Beyerer,
TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials,
Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September 2015.

Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Robin Gruna, Harald Kruggel-Emden, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer,
Predictive Tracking with Improved Motion Models for Optical Belt Sorting,
at – Automatisierungstechnik, April 2020.

Classification of particles. The classification may use a multitarget tracker to accumulate visual features over time. One can also use the information on the trajectory to classify the particles. For information on this, refer to

Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer,
Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information,
Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017), Karlsruhe, Germany, March 2017.

Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer,
Motion-Based Material Characterization in Sensor-Based Sorting, 
tm – Technisches Messen, De Gruyter, October 2017.

Acknowledgment

The IGF project 20354 N of the research association Forschungs-Gesellschaft Verfahrens-Technik e.V. (GVT) was supported via the AiF in a program to promote the Industrial Community Research and Development (IGF) by the Federal Ministry for Economic Affairs and Energy on the basis of a resolution of the German Bundestag.

本数据集包含滑槽上球体的图像，所有图像均通过小型Tablesort型光学带式分选机（optical belt sorter）采集完成。关于Tablesort系统的详细技术说明可参阅以下文献：
Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Jürgen Beyerer, 《基于预测性实时多目标跟踪的新型传感器分选方法的实验评估》, 《IEEE工业电子学汇刊》, 2020年2月。
亦可访问项目官网获取更多信息。

本数据集属于光学分选机多组采集数据中的一组。请使用搜索功能，并以带引号的关键词"Tobias Hornberger"检索即可找到全部相关数据。

本数据集采用Bonito CL-400C型号相机采集。外参（extrinsic parameters）校准图像可于calibration_extrinsics.png文件中获取，色彩校准（color calibration）图像则可于calibration_color.png文件中获取。相关拜耳解码脚本可访问GitHub平台查看。本数据集的采集帧率（frame rate）为192.9 Hz。

本数据集可用于开发与评估针对两大核心技术挑战的算法：

1. 多目标跟踪（Multitarget Tracking）：实现颗粒（particle）运动预测。该技术可用于优化光学分选机的分选效果。相关技术细节可参阅以下文献：
Florian Pfaff, Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Robin Gruna, Thomas Längle, Jürgen Beyerer, 《TrackSort：面向非合作散装物料分选的预测性跟踪技术》, 2015年IEEE多传感器融合与智能系统国际会议（MFI 2015）论文集, 美国加利福尼亚州圣地亚哥, 2015年9月。
Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Robin Gruna, Harald Kruggel-Emden, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer, 《面向光学带式分选的改进运动模型预测性跟踪》, 《Automatisierungstechnik》, 2020年4月。

2. 颗粒分类：分类过程可借助多目标跟踪器实时累积视觉特征，亦可利用颗粒的运动轨迹信息完成分类。相关技术细节可参阅以下文献：
Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, 《利用运动信息提升传感器分选系统中的材料表征精度》, 2017年第三届材料光学表征会议（OCM 2017）论文集, 德国卡尔斯鲁厄, 2017年3月。
Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, 《传感器分选系统中基于运动的材料表征》, 《tm – Technisches Messen》, De Gruyter出版社, 2017年10月。

致谢
本研究关联的IGF项目20354 N由过程技术研究协会（Forschungs-Gesellschaft Verfahrens-Technik e.V.，简称GVT）依托德国联邦经济与能源部基于德国联邦议会决议推出的工业共同体研发（IGF）促进计划，通过AiF予以资助。