Dataset for semantic segmentation of the laboratory model of manufacturing environment

This dataset includes images and labels used for semantic segmentation of the laboratory model of the manufacturing environment, at the University of Belgrade - Faculty of Mechanical Engineering. The dataset is gathered by using mobile robot RAICO (Robot with Artificial Intelligence based COgnition) and its stereo visual system made from two Basler acA1920-25uc cameras with Fujinon lens DF6HA-1B. The dataset includes close to 430 images with a resolution of 640x360. Images are acquired by both cameras at different mobile robot poses in the laboratory model of a manufacturing environment. Five classes are introduced in the dataset, machines 1 to 4, and a background class. The exact names of the classes are:

classNames = ["Machine_1", "Machine_2", "Machine_3", "Machine_4", "Background"];

while the labels of the classes (RGB values of label images) are:

labelIDs = [ ...
    000 000 255; ... % "Machine 1"
    000 255 255; ... % "Machine 2"
    255 255 000; ... % "Machine 3"
    255 000 000; ... % "Machine 4"
    255 255 255; ...   % "Background"
    ];

Image and label pairs are entitled 1 to 430, and e.g. label 5 corresponds to images 5.

This dataset was developed with the support of the Science Fund of the Republic of Serbia, Grant No. 6523109, AI - MISSION4.0, 2020-2022.

本数据集包含用于语义分割（semantic segmentation）的制造环境实验室模型图像与标注标签，采集自贝尔格莱德大学机械工程学院。该数据集由移动机器人RAICO（Robot with Artificial Intelligence based COgnition，即搭载人工智能认知系统的机器人）及其立体视觉系统采集完成，该视觉系统由两台搭载富士能（Fujinon）DF6HA-1B镜头的Basler acA1920-25uc相机组成。本数据集共包含近430张分辨率为640×360的图像，所有图像均由两台相机在制造环境实验室模型中不同移动机器人位姿下采集得到。

本数据集共定义5个类别，分别为1至4号机器与背景类别，具体类别名称如下：
classNames = ["Machine_1", "Machine_2", "Machine_3", "Machine_4", "Background"];

各类别对应的标注标签（标注图像的RGB颜色值）如下：
labelIDs = [ ...
000 000 255; ... % "机器1"
000 255 255; ... % "机器2"
255 255 000; ... % "机器3"
255 000 000; ... % "机器4"
255 255 255; ... % "背景"
];

图像与标注文件按1至430的编号一一对应，例如第5号标注对应第5号图像。

本数据集由塞尔维亚共和国科学基金资助开发，项目编号为6523109，项目名称为AI-MISSION4.0，资助周期为2020年至2022年。