Skip to main content
U.S. flag

An official website of the United States government

Data for Filtering Organized 3D Point Clouds for Bin Picking Applications

Published by National Institute of Standards and Technology | National Institute of Standards and Technology | Catalog Last Checked: August 02, 2025 at 03:28 PM | Dataset Last Updated: December 27, 2023
Contains scans of a bin filled with different parts ( screws, nuts, rods, spheres, sprockets). For each part type, RGB image and organized 3D point cloud obtained with structured light sensor are provided. In addition, unorganized 3D point cloud representing an empty bin and a small Matlab script to read the files is also provided. 3D data contain a lot of outliers and the data were used to demonstrate a new filtering technique.

Resources

14 resources available

Find Related Datasets

Search by Tags

Click any tag below to search for similar datasets

Complete Metadata
@type dcat:Dataset
accessLevel public
bureauCode 
[
  "006:55"
]
contactPoint 
{
  "fn": "Marek Franaszek",
  "hasEmail": "mailto:marek.franaszek@nist.gov"
}
description Contains scans of a bin filled with different parts ( screws, nuts, rods, spheres, sprockets). For each part type, RGB image and organized 3D point cloud obtained with structured light sensor are provided. In addition, unorganized 3D point cloud representing an empty bin and a small Matlab script to read the files is also provided. 3D data contain a lot of outliers and the data were used to demonstrate a new filtering technique.
distribution 
[
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "3D organized point cloud of bin filled with parts C",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_xyz.mat"
  },
  {
    "title": "ReadMe",
    "format": "text",
    "mediaType": "text/plain",
    "description": "Brief description how to access data in this repository",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/ReadMe.txt"
  },
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Contains organized 3D point cloud for part A",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_xyz.mat"
  },
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Organized 3D point cloud for bin with part B",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_xyz.mat"
  },
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Organized 3D point cloud of a bin filled with parts D",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_xyz.mat"
  },
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Organized 3D point cloud of bin filled with parts E",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_xyz.mat"
  },
  {
    "title": "Bin filled with parts",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Organized 3D point cloud of bin filled with parts F",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_xyz.mat"
  },
  {
    "title": "Bin filled with parts",
    "format": "RGB image",
    "mediaType": "image/png",
    "description": "RGB image of bin filled with parts C",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_rgb.png"
  },
  {
    "title": "Bin filled with parts",
    "format": "RGB image",
    "mediaType": "image/png",
    "description": "RGB image of bin filled with parts D",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_rgb.png"
  },
  {
    "title": "Bin filled with parts",
    "format": "RGB image",
    "mediaType": "image/png",
    "description": "RGB image of bin filled with parts E",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_rgb.png"
  },
  {
    "title": "Bin filled with parts",
    "format": "RGB image",
    "mediaType": "image/png",
    "description": "RGB image of bin filled with parts F",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_rgb.png"
  },
  {
    "title": "Bin filled with parts",
    "format": "rgb image",
    "mediaType": "image/png",
    "description": "RGB image of bin with part A",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_rgb.png"
  },
  {
    "title": "Bin filled with parts",
    "mediaType": "image/png",
    "description": "RGB image of bin with parts B",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_rgb.png"
  },
  {
    "title": "Empty bin",
    "format": "Matlab data file",
    "mediaType": "application/octet-stream",
    "description": "Unorganized 3D point cloud representing an empty bin",
    "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/regSubSmplPntCld.mat"
  }
]
identifier ark:/88434/mds2-3138
issued 2024-03-19
keyword 
[
  "3D point cloud",
  "filtering 3D data for bin picking",
  "stochastic outlier removal"
]
language 
[
  "en"
]
license https://www.nist.gov/open/license
modified 2023-12-27 00:00:00
programCode 
[
  "006:045"
]
publisher 
{
  "name": "National Institute of Standards and Technology",
  "@type": "org:Organization"
}
theme 
[
  "Manufacturing:Process improvement",
  "Manufacturing:Robotics in manufacturing"
]
title Data for Filtering Organized 3D Point Clouds for Bin Picking Applications

data.gov

An official website of the GSA's Technology Transformation Services

Looking for U.S. government information and services?
Visit USA.gov