USF Range Image Database

What is a range camera (postscript file), and how do they work? Recommended reading.

Odetics LADAR camera images

RANGE	INTENSITY	DOWNLOAD	CONTENT DESCRIPTION
		112 images (zipped, 2.5M) preview icons	of 7 different polyhedral objects (one at a time), each object rotated to 16 different orientations, stationary lab (non-planar) background
		102 images (zipped, 1.7M) preview icons	of 6 different polyhedral objects (one at a time), each object rotated to 17 different orientations, stationary planar background
		8 images (zipped, .2M) preview icons	of 3 different polyhedral objects (one at a time) having special properties (inner holes, non-trihedral vertices, multiple edges between surfaces)
		37 images (zipped, .6M) preview icons	of 3 different articulated polyhedral objects (one at a time), each object's articulated connection translated or rotated through 8 to 17 different orientations, stationary planar background
		70 images (zipped, 1.5M) preview icons	of 2 different ego-motion sequences of mobile robot in cluttered lab environment

	Camera and image description Images are stored in in-house format (see C code below). A postscript file containing statistics of the Odetics camera, CAD models and info about the objects imaged, and general information (last revised 1994, so not completely up-to-date).
	C code C code for splitting raw images (in-house format) into range and reflectance images (PGM format), and for converting Odetics range pixels (row,col,depth) into Cartesian (X,Y,Z) coordinates.
	Acknowledgments These images were taken in the CESAR lab at Oak Ridge National Laboratory (Tennessee). They ask to be acknowledged as the image source in any resulting publications.

Perceptron LADAR camera images

RANGE	INTENSITY	DOWNLOAD	CONTENT DESCRIPTION
		40 images (zipped, 28.2M) preview icons	multiple polyhedral objects, between one and five (of six different total) objects in each view

	Camera and image description Images are stored in in-house format (see C code below). A postscript file containing statistics of the Perceptron camera, CAD models and info about the objects imaged, and general information.
	C code C code for splitting raw images (in-house format) into range and reflectance images (PGM format), and for converting Perceptron range pixels (row,col,depth) into Cartesian (X,Y,Z) coordinates.
	Acknowledgments These images were taken in the CESAR lab at Oak Ridge National Laboratory (Tennessee). They ask to be acknowledged as the image source in any resulting publications.

ABW structured light camera images

RANGE	INTENSITY	DOWNLOAD	CONTENT DESCRIPTION
		40 images (zipped, 8.1M) preview icons	multiple polyhedral objects, between one and five (of seven different total) objects in each view

	Camera and image description Camera and image description Images are stored in rasterfile format (no picture of camera available). A postscript file containing statistics of the ABW camera, CAD models and info about the objects imaged, and general information.
	C code C code for converting ABW range pixels (row,col,depth) into Cartesian (X,Y,Z) coordinates. Images are stored in rasterfile format.
	Acknowledgments These images were taken in the Vision lab at the University of Bern (Switzerland).

K2T structured light camera images

RANGE	INTENSITY	DOWNLOAD	CONTENT DESCRIPTION
		40 images (zipped, 8.2M) preview icons	single and multiple curved and free-form objects

	Camera and image description Images are stored in rasterfile format (no picture of camera available). Nothing available individually on the K2T camera. Please see the recommended reading on range cameras for some good info.
	C code C code for converting K2T range pixels (row,col,depth) into Cartesian (X,Y,Z) coordinates. Images are stored in rasterfile format.
	Acknowledgments These images were taken in the Vision lab at the University of South Florida.

Related topics

Space envelope model construction from range imagery

OPUS model construction from range imagery

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