Queen's Range Image and 3-D Model Database

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All models are saved in millimeters
1. Old Gnome

Old Gnome

VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
2. Elmo

Elmo
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
3. Sailor

Sailor

VRML
XYZ
10 Independent Scans
Sensor Used:Next Engine 3-D scanner
4. Rabbit

Rabbit

VRML
XYZ
10 Independent Scans
Sensor Used: Next Engine 3-D scanner
5. Bird House

Bird House
VRML
XYZ
10 Independent Scans
Sensor Used: Next Engine 3-D scanner
6. Canada goose sleeping

Canada goose sleeping

VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
7. Canada goose

Canada goose
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
8. LongHorn

LongHorn
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D Scanner
9. Rhino

Rhino
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
10. T-rex

T-rex
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
11. Black Horse

Black Horse
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
12. Racoon

Racoon
10 Independent Scans
Sensor used: Next Engine 3-D scanner
13. Horse Rearing

horse rearing
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
14. Stegosaurus

Stegosaurus
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
15. Green Watering Can

Green Watering can
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
16. Gas Can

Gas Can
VRML
XYZ
views
Sensor used: Next Engine 3-D scanner
17. White Tubing

White Tubing
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
18. Jug

jug
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
19. Green Pipe

Green Pipe
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
20. Large Green Watering Can

Large Green Watering Can
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
21. Kettle

Kettle

VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3-D scanner
22. Zoe

Zoe
VRML
XYZ
unavailable
Sensor used: Vivid 3-D Scanner
23. Watermelon Boy

Watermelon Boy
VRML
XYZ
10 Independent Scans
Sensor used: Vivid 3-D Scanner
24. Big Bird

Big Bird
VRML
XYZ
unavailable
Sensor used:Vivid 3-D Scanner
25. Frog and gnome

Frog and Gnome
vrml
xyz
10 Independent Scans
Sensor used:Vivid 3-D Scanner
26. Angel

Angel
Vrml
xyz
10 independent views
Sensor used: Vivid 3-D Scanner
27. hose hanger

hose hanger
Vrml
xyz
10 independent views
Sensor used: Next Engine 3-D Scanner
28. moon

moon
Vrml
xyz
10 independent views
Sensor used: Next Engine 3-D Scanner
29. brachiosaurus

brachiosaurus
VRML
XYZ
10 Independent Scans
Sensor used: Next Engine 3D Scanner
30. Apollo Model

Apollo Model
Vrml
xyz
10 independent views
Sensor used: Next Engine 3D Scanner
31.Starship Enterprise

Starship Enterprise
Vrml
xyz
10 independent views
Sensor used: Next Engine 3D Scanner
32.Shuttle

Shuttle
Vrml
xyz
10 independent views
Sensor used: Next Engine 3D Scanner
33. Space Pod

Space Pod
Vrml
xyz
10 independent views
Sensor used: Next Engine 3D Scanner
34.Millenium Falcon

Millenium Falcon
Vrml
xyz
10 independent views
Sensor used: Next Engine 3D Scanner
. .

Cluttered Scenes

Scene with Big Bird, Gnome, Zoe, Angel

Angel, Big bird, Gnome, Zoe
4 models vrml
4 models xyz
Sensor used: Vivid 3-D Scanner
Scene with Big Bird, Gnome, Angel

Angel, Big bird, gnome
3 models vrml
3 models xyz
Sensor used: Vivid 3-D Scanner

More Models

Some useful Matlab utilities for working with 3D point clouds:

Click3DPoint: for selecting a 3D point from a point cloud by clicking on it. This function is useful for example in generating ground truth alignments between models and scenes. You could used it to find the index of corresponding points in two point clouds and use a few (3+) point matches to compute a least squares estimation of the rigid transformation that aligns the two point clouds.

ICP: Matlab implementation of the Iterative Closest Point Algorithm by A. Mian. This could be used to refine the initial alignment found using least squares and manually matched points.


Lidar Point Clouds 3D point clouds of the five models in various placements taken with a VIVID 3D scanner. The first line of the PTS files shows the number of points in each scene and subsequent lines contain the coordinates of each surface point ([x y z]). The model-scene alignment is provided for most model-scene pairs. An alignment file (e.g. im1_Angel.txt) contains a 4x4 homogeneous transform matrix that aligns a model with the scene.
Stereo point Clouds 3D point clouds and model-scene alignment files are presented in the same format as the LIDAR point clouds. An intensity image (.tif) of each setup is also included. The 3D point clouds are generated from disparity maps from stereo image pairs (using the point grey software with SSD).
Models Five models (Angel, Big Bird, Gnome, Kid, Zoe) in oriented point cloud (.ops) format. The first line of the OPS files contains the number of points in the model and each line after that contains the coordinates and the normal direction of a surface point ([x y z nx ny nz]). The order of the points has no significance.

If you use this data set in your research, please cite the following:
[1]


Babak Taati, Michel Bondy, Piotr Jasbedzki, and Michael Greenspan, "Variable Dimensional Local Shape Descriptors for Object Recognition in Range Data", Proceedings of the International Conference on Computer Vision (ICCV 2007) - 3D Representation for Recognition (3dRR), Oct.2007
[2]http://rcvlab.ece.queensu.ca/~qridb/, “Queen’s Range Image and 3-D Model Database”, 2009.

Copyright Queen's University 2009, 2010