Tools – Data Release

tools.jpgExemplary image of the data set including different tools


The tools dataset contains 129 RGB-D frames of scenes with subsets of six different objects,
annotated with ground truth polygons for each object class.

The objects are:

  • clamp
  • door handle
  • driller
  • extension box
  • stapler
  • wrench

Each frame directory contains:

  • XXXX_cloud.pcd: RGB-D point cloud in PCL PCD format
  • XXXX_color.jpg: RGB image
  • XXXX_depth.png: Depth image
  • mask_YYYY.png: Binary ground truth masks for each object class
  • polygons.yaml: Polygons for each object


Contact: Max Schwarz, University of Bonn (


Download (~1 GB)