{
  "@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": [
    {
      "description": "3D organized point cloud of bin filled with parts C",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "Brief description how to access data in this repository",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/ReadMe.txt",
      "format": "text",
      "mediaType": "text/plain",
      "title": "ReadMe"
    },
    {
      "description": "Contains organized 3D point cloud for part A",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "Organized 3D point cloud for bin with part B",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "Organized 3D point cloud of a bin filled with parts D",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "Organized 3D point cloud of bin filled with parts E",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "Organized 3D point cloud of bin filled with parts F",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_xyz.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin filled with parts C",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/C_rgb.png",
      "format": "RGB image",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin filled with parts D",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/D_rgb.png",
      "format": "RGB image",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin filled with parts E",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/E_rgb.png",
      "format": "RGB image",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin filled with parts F",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/F_rgb.png",
      "format": "RGB image",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin with part A",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/A_rgb.png",
      "format": "rgb image",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "RGB image of bin with parts B",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/B_rgb.png",
      "mediaType": "image/png",
      "title": "Bin filled with parts"
    },
    {
      "description": "Unorganized 3D point cloud representing an empty bin",
      "downloadURL": "https://data.nist.gov/od/ds/mds2-3138/regSubSmplPntCld.mat",
      "format": "Matlab data file",
      "mediaType": "application/octet-stream",
      "title": "Empty bin"
    }
  ],
  "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": {
    "@type": "org:Organization",
    "name": "National Institute of Standards and Technology"
  },
  "theme": [
    "Manufacturing:Process improvement",
    "Manufacturing:Robotics in manufacturing"
  ],
  "title": "Data for Filtering Organized 3D Point Clouds for Bin Picking Applications"
}