METRIC - Multi-Eye To Robot Indoor Calibration Dataset

The METRIC dataset comprises more than 10,000 synthetic and real images of ChAruCo and checkerboard patterns. Each pattern is securely attached to the robot's end-effector, which is systematically moved in front of four cameras surrounding the manipulator. This movement allows for image acquisition from various viewpoints. The real images in the dataset encompass multiple sets of images captured by three distinct types of sensor networks: Microsoft Kinect V2, Intel RealSense Depth D455, and Intel RealSense Lidar L515. The purpose of including these images is to evaluate the advantages and disadvantages of each sensor network for calibration purposes. Additionally, to accurately assess the impact of the distance between the camera and robot on calibration, we obtained a comprehensive synthetic dataset. This dataset contains associated ground truth data and is divided into three different camera network setups, corresponding to three levels of calibration difficulty based on the cell size.