Images of Cylinders Transported on a Conveyor Belt - Recording 1
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This data set comprises images of cylinders on a conveyor belt. The images were recorded on the small-scale optical belt sorter Tablesort. A thorough description of the Tablesort system can be found in <em>Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Jürgen Beyerer,</em> <strong>Experimental Evaluation of a Novel Sensor-Based Sorting Approach Featuring Predictive Real-Time Multiobject Tracking</strong>, 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 or use the list at https://doi.org/10.5281/zenodo.5506551 (conveyor belt data sets only). 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<strong>.</strong> Each pixel is approximately 0.056 mm long in world coordinates. 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 <em>Florian Pfaff, Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Robin Gruna, Thomas Längle, Jürgen Beyerer,</em><br> <strong>TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials,</strong><br> Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September 2015. <em>Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Robin Gruna, Harald Kruggel-Emden, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer,</em><br> <strong>Predictive Tracking with Improved Motion Models for Optical Belt Sorting</strong>,<br> 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 <em>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,</em><br> <strong>Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information,</strong><br> Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017), Karlsruhe, Germany, March 2017. <em>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,</em><br> <strong>Motion-Based Material Characterization in Sensor-Based Sorting,</strong> <br> tm – Technisches Messen, De Gruyter, October 2017. <br> To this date, publications that used these data include <em>Daniel Pollithy, Marcel Reith-Braun, Florian Pfaff, Uwe D. Hanebeck,</em><br> <strong>Estimating Uncertainties of Recurrent Neural Networks in Application to Multitarget Tracking</strong>,<br> Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), Virtual, September 2020. CSV-files with already associated particle tracks are available at https://doi.org/10.5281/zenodo.5506551. <strong>Acknowledgment</strong> 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.
本数据集包含输送带上的圆柱工件图像。所有图像均通过小型光学带式分拣机Tablesort采集。 关于Tablesort系统的详细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*，**Experimental Evaluation of a Novel Sensor-Based Sorting Approach Featuring Predictive Real-Time Multiobject Tracking**（《基于预测性实时多目标跟踪的新型传感器分拣方法的实验评估》），《IEEE Transactions on Industrial Electronics》，2020年2月。同时可参考项目官网。 本数据集属于光学分拣机采集的一批录制数据之一。可通过带引号的关键词"Tobias Hornberger"检索获取相关数据，或仅访问https://doi.org/10.5281/zenodo.5506551获取其中的输送带数据集列表。 图像由Bonito CL-400C相机采集。相机外参校准图像为calibration_extrinsics.png，色彩校准图像为calibration_color.png。相关去拜耳（debayer）脚本可在GitHub上获取。 世界坐标系下，每个像素对应实际长度约0.056 mm，图像帧率为192.9 Hz。 本数据集可用于开发与评估针对两项核心挑战的算法： 1. 预测工件运动的多目标跟踪：该算法可用于提升光学分拣机的分拣精度。相关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: Predictive Tracking for Sorting Uncooperative Bulk Materials**（《TrackSort：面向非合作散料分拣的预测性跟踪》），《2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)》（2015年IEEE智能系统多传感器融合与集成国际会议论文集），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*，**Predictive Tracking with Improved Motion Models for Optical Belt Sorting**（《基于改进运动模型的光学带式分拣预测跟踪》），《at – Automatisierungstechnik》（《自动化技术》），2020年4月。 2. 工件分类：分类任务可通过多目标跟踪器随时间累积视觉特征实现，也可利用工件轨迹信息完成分类。相关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*，**Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information**（《利用运动信息提升传感器分拣中的材料表征精度》），《Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017)》（第三届材料光学表征会议论文集（OCM 2017）），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*，**Motion-Based Material Characterization in Sensor-Based Sorting**（《基于运动的传感器分拣材料表征》），《tm – Technisches Messen》（《测量技术》，De Gruyter出版社），2017年10月。 截至目前，使用本数据集的已发表文献包括： *Daniel Pollithy, Marcel Reith-Braun, Florian Pfaff, Uwe D. Hanebeck*，**Estimating Uncertainties of Recurrent Neural Networks in Application to Multitarget Tracking**（《循环神经网络在多目标跟踪中的不确定性估计》），《Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020)》（2020年IEEE智能系统多传感器融合与集成国际会议论文集），线上举办，2020年9月。 已完成工件轨迹关联的CSV文件可访问https://doi.org/10.5281/zenodo.5506551获取。 **致谢** 德国加工技术研究协会（Forschungs-Gesellschaft Verfahrens-Technik e.V.，简称GVT）的IGF项目20354 N由德国联邦经济事务与能源部通过德国工业研究协会联合会（AiF）的工业共同体研究与发展（IGF）资助计划资助，资助依据为德国联邦议院决议。
