Dataset Open Access

Dataset of EU SPIRIT Project

EU SPIRIT Consortium

The data available for future research are 14 kind of files, files are organized in different category based on the usage that can be carried out with the data. Below the information for each kind of data is reported:

  • To develop and test calibration methods for hand-eye calibration with image-based sensors
    • Acquired images - This data set contains either images of a calibration pattern like a checkerboard, or in case of the GridSense sensor, point clouds that can be matched without knowledge of the sensor positions. Hence they can be used to compute the sensor motion in the point cloud frame.
    • Pose information per image – For each of the acquired image, a .txt file containing the referenced pose is provided. This file contains the position (roto-translation 4x4 matrix) of the robot TCP in the robot base frame. This data can be used for recovering the position of the sensor when applying the desired hand-eye transformation.
    • Calibration result – optional – When provided, this data contains the optimized hand-eye transformation, i.e. computed with the calibration procedure developed in the SPIRIT project.
    • Initial guess of calibration (by design) – This data contains the roto-translation 4x4 matrix that can be used as initial guess for the actual hand-eye transform computation. This is retrieved by design from CAD drawings.
  • To perform trajectory planning for robotic inspection tasks
    • 3D model of object – This data contains the file CAD of the object. It is available on request.
    • 3D model of workcell (at least robot + part); stp file - This data contains the file CAD of the workcell
    • kinematic model of robot – This file contains the kinematic model of the robot
    • Part calibration, hand-eye calibration – This file contains a 4x4 transformation matrix that defines the position and the orientation of the part within the workcell.
    • Resulting trajectory, position of camera relative to part – This data contains the trajectory of the robot stored in binary table in the HDF5 format. In each file there are four tables:
      • Timestamp: 1 column x N rows table, where N is the number of position in the trajectory and each row contains the time expressed as seconds.
      • Component 0: contains 6 columns x N rows table, the 6 columns contains the robot joint position (rad) at the corresponding timestamp
      • Component 1: this table exists only if there are two moving components. For test case 1, it contains the position of the conveyor belt. For test case 2 it contains the joint position of the second robot.
      • ID: 1 column x N rows table , used internally by the SPIRIT SW to turn on or off the laser or to know the viewpoints associated to the joint position
    • Video of full scanning process – This file is a video of the scanning process.
  • To develop image mapping/stitching algorithms for 3D objects
    • 3D model of object – This data contains the file CAD of the object. It is available on request.
    • acquired image data - Images/ point clouds that were acquired at a scan of the test parts
    • pose information per image – A Cartesian sensor position for each image/ point cloud. 
    • calibration data - Information about the intrinsic sensor parameters.
  • Defect data & detection results
    • Defect documentation – This file contains a report about the defect monitored during the scanning process
    • Performance data – This file contains an evaluation of the results obtained referring to the KPI of the project.

Files (3.1 GB)
Name Size
SPIRIT-A1C.zip
md5:686541c5381dce3bb7551f48321676d9
317.7 kB Download
SPIRIT-A2A.zip
md5:3fa508a6dd0e1d8c2669829bade0fddc
2.5 MB Download
SPIRIT-A3B.zip
md5:9342d3505b8c2ca19f323c87079b8b14
51.5 MB Download
SPIRIT-B1C.zip
md5:67a6e0ba7f52b6b24a884322be0e7ce5
1.3 kB Download
SPIRIT-B2A.docx
md5:e1a7e9fecd65b107cd4861e49e7bbc04
81.0 kB Download
SPIRIT-B3B.zip
md5:60da00a47709e57b03d87a6d59cff924
5.9 kB Download
SPIRIT-C1C.csv
md5:4323562dbc055da27855041f3a1f44ff
132 Bytes Download
SPIRIT-C3B.txt
md5:0c85afe841d2cd27cee02142d5f24451
151 Bytes Download
SPIRIT-E1C.csv
md5:f0733685e4fea219120e448db185d9ee
50 Bytes Download
SPIRIT-E3B.zip
md5:9052d93170de0d0188ecbcb917579707
434 Bytes Download
SPIRIT-G1C.stl
md5:b25fd30faa1ad72b03cd12ffce496c7d
40.8 MB Download
SPIRIT-G2a.stl
md5:82f6e12e392489386f84f3daa78d8f81
62.1 MB Download
SPIRIT-G3b.stp
md5:24d1ace14347dddafdd535ca8afe7466
20.2 MB Download
SPIRIT-H1c.pdf
md5:27438d336d9d81d1fc89e0fd94f9f4ff
419.1 kB Download
SPIRIT-H3b.pdf
md5:54c16f08980a6fe7e2f0aa8f677d5ce8
330.5 kB Download
SPIRIT-I1C.json
md5:d6e1e76882c1a034321bb55d03a0fd77
372 Bytes Download
SPIRIT-I2A.json
md5:76a6d0abb2195b1bf97d623b82dcc02a
409 Bytes Download
SPIRIT-I3B.json
md5:a5de10c80bf511a7db7fa57b7a0bdedb
482 Bytes Download
SPIRIT-J1C.h5
md5:dde503a260802c00562e014faa68473a
26.4 kB Download
SPIRIT-J2A.h5
md5:208c461bd696bc87b42d53db331d6e68
21.2 kB Download
SPIRIT-J3B.h5
md5:1a20c491327ff0112c663b81793763d4
39.3 kB Download
SPIRIT-K1c.mp4
md5:6a05c56f1b4de9409de38396c2966ff1
96.1 MB Download
SPIRIT-K2a.mp4
md5:43520600d5d0782370e14173c7ec4281
620.8 MB Download
SPIRIT-K3b.mp4
md5:bd9d9e11a949eed60dfc8b006be768f1
437.5 MB Download
SPIRIT-M1C.zip
md5:dcbac34e4a060593424b20f2ef543153
3.7 MB Download
SPIRIT-M2A.zip
md5:ebf03d4eecf29c78594b200228ef32aa
557.9 MB Download
SPIRIT-M3B.zip
md5:3e102ea5a87c2ff9b0db2f3ce091cc47
1.2 GB Download
SPIRIT-N1C.zip
md5:8e82809304cb760a8ad55daa05e21ee2
30.6 kB Download
SPIRIT-N2A.zip
md5:7062f7b46a164fbcbb496e92d2de1721
29.1 kB Download
SPIRIT-N3B.zip
md5:11b8e2e0c2981aff3cadfbaf23980647
132.8 kB Download
SPIRIT-O1c.docx
md5:1a329d20d43db53c4ec14e54fb5b7ac0
5.2 MB Download
SPIRIT-O3B.docx
md5:eeb0eee2c0ef7faa3bb504f649dd8f90
8.9 MB Download
SPIRIT-P1C.docx
md5:be1ff51f708f3988fd7739d1a95dd080
694.3 kB Download
SPIRIT-P3b.docx
md5:0929a9354688f558799e02ea0bc59d47
401.5 kB Download
SPIRIT-Q2A.zip
md5:cddb3ffff43fe4bde1349bde30f4d402
4.0 MB Download
SPIRIT-Q3B.zip
md5:330c86811bcfdfa8891833f027f2ccc0
711 Bytes Download
55
166
views
downloads
All versions This version
Views 5533
Downloads 16657
Data volume 10.8 GB4.0 GB
Unique views 3421
Unique downloads 238

Share

Cite as