BIDCD

Bosch Industrial Depth Completion Dataset (BIDCD) is an RGBD dataset of static table top scenes with industrial objects, collected with a depth-camera 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. Auxiliary information includes (a) workspace masks, corresponding to the footprint of workspace volume, and (b) cleaned depth, an intermediate result from the pipe-line mentioned above. For more details see our publication "BIDCD - Bosch Industrial Depth Completion Dataset".