厨余垃圾抓取数据集

厨余垃圾抓取核心数据集文件夹中包含具有简单及复杂场景厨余垃圾RGB图像及深度图像共6232张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件3116个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为750 MB；002厨余垃圾抓取增量数据集A文件夹中包含简单场景厨余垃圾RGB图像及深度图像共418张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件219个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为40 MB；003厨余垃圾抓取增量数据集B文件夹中包含带有杂乱碎屑背景厨余垃圾照片484张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件242个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为47 MB；004厨余垃圾抓取增量数据集C文件夹中包含带有杂乱碎屑且包含塑料袋场景厨余垃圾RGB图像及深度图像共512张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件256个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为52 MB；005厨余垃圾抓取增量数据集D文件夹中包含带有脏乱易腐生物质及塑料袋场景厨余垃圾RGB图像及深度图像共434张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件217个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为53 MB；006厨余垃圾抓取增量数据集E文件夹中包含带有重油污生物质及塑料袋场景厨余垃圾RGB图像及深度图像共480张，文件命名规则为：序号+图像类型名称+文件类型后缀，包含对应抓取信息标注文件240个，文件命名规则为序号+RGB图像类型名称+文件类型后缀，总和数据量约为61 MB。

The core kitchen waste grasping dataset folder contains a total of 6232 RGB and depth images of kitchen waste in both simple and complex scenarios, following the file naming convention: serial number + image type name + file extension. It also includes 3116 corresponding grasping annotation files, which follow the naming convention: serial number + RGB image type name + file extension. The total data volume of this dataset is approximately 750 MB.

The 002 incremental kitchen waste grasping dataset folder A contains 418 RGB and depth images of kitchen waste in simple scenarios, following the file naming convention: serial number + image type name + file extension. It includes 219 corresponding grasping annotation files following the naming convention: serial number + RGB image type name + file extension. The total data volume is approximately 40 MB.

The 003 incremental kitchen waste grasping dataset folder B contains 484 photos of kitchen waste with cluttered debris backgrounds, following the file naming convention: serial number + image type name + file extension. It includes 242 corresponding grasping annotation files following the naming convention: serial number + RGB image type name + file extension. The total data volume is approximately 47 MB.

The 004 incremental kitchen waste grasping dataset folder C contains 512 RGB and depth images of kitchen waste in scenarios with cluttered debris and plastic bags, following the file naming convention: serial number + image type name + file extension. It includes 256 corresponding grasping annotation files following the naming convention: serial number + RGB image type name + file extension. The total data volume is approximately 52 MB.

The 005 incremental kitchen waste grasping dataset folder D contains 434 RGB and depth images of kitchen waste in scenarios with soiled perishable biomass and plastic bags, following the file naming convention: serial number + image type name + file extension. It includes 217 corresponding grasping annotation files following the naming convention: serial number + RGB image type name + file extension. The total data volume is approximately 53 MB.

The 006 incremental kitchen waste grasping dataset folder E contains 480 RGB and depth images of kitchen waste in scenarios with heavily oil-stained biomass and plastic bags, following the file naming convention: serial number + image type name + file extension. It includes 240 corresponding grasping annotation files following the naming convention: serial number + RGB image type name + file extension. The total data volume is approximately 61 MB.

搜集汇总

背景与挑战

背景概述

该数据集是一个专注于厨余垃圾抓取的视觉数据集，包含多个子集，总计约996.62MB，含12930个文件。它提供了不同场景（如简单、复杂、带有杂乱碎屑或塑料袋背景）下的厨余垃圾RGB图像和深度图像，并附有对应的抓取信息标注文件，适用于RGB-D多目标抓取任务，支持计算机视觉和机器人抓取研究。