Jacobs Robotics Watertight Meshes Dataset


Point clouds, mesh representations and Gazebo models of everyday objects.


The object point clouds available on this website were created from low-cost RGBD sensor data without user interaction, see our first publication:

Razvan-George Mihalyi, Kaustubh Pathak, Narunas Vaskevicius, Tobias Fromm and Andreas Birk
"Robust 3D Object Modeling with a Low-Cost RGBD-Sensor and AR-Markers
for Applications with Untrained End-Users"
In Robotics and Autonomous Systems, http://dx.doi.org/10.1016/j.robot.2015.01.005, April 2015


From these point clouds, watertight mesh representations were generated as described in our second publication:

Tobias Fromm, Christian A. Mueller and Andreas Birk
"Unsupervised Watertight Mesh Generation for Physics Simulation Applications Using Growing Neural Gas
on Noisy Free-Form Object Models"
In arXiv.org, https://arxiv.org/abs/1603.00663, September 2016

with the accompanying video:

Each object's point cloud and mesh can be viewed live. We provide zipped .bag files for the objects which were used in our modeling approach as well as .zip files containing:

  • PCD point cloud
  • PLY mesh
  • PNG preview image
  • Gazebo model folder


amd-box

An AMD CPU box.
Point Cloud (view): 5 MB
Model: 2 MB, Bagfile: 1.13 GB

View Model Bagfile

baby-doll1

A sitting baby doll.
Point Cloud (view): 52 MB
Model: 19 MB, Bagfile: 1.19 GB

View Model Bagfile

baby-doll2

A lying baby doll.
Point Cloud (view): 52 MB
Model: 19 MB, Bagfile: 1.37 GB

View Model Bagfile

becks-barrel

A Beck's beer barrel.
Point Cloud (view): 23 MB
Model: 8 MB, Bagfile: 1.24 GB

View Model Bagfile

benq-box

A BENQ computer monitor box.
Point Cloud (view): 113 MB
Model: 41 MB, Bagfile: 1.04 GB

View Model Bagfile

coffee-sack1

A sack filled with coffee beans.
Point Cloud (view): 205 MB
Model: 71 MB

View Model

coffee-sack2

A sack filled with coffee beans.
Point Cloud (view): 182 MB
Model: 63 MB, Bagfile: 0.89 GB

View Model Bagfile

dhl-box-blue

A blue DHL parcel.
Point Cloud (view): 61 MB
Model: 21 MB, Bagfile: 0.89 GB

View Model Bagfile

dhl-box-yellow

A yellow DHL parcel.
Point Cloud (view): 13 MB
Model: 5 MB, Bagfile: 0.96 GB

View Model Bagfile

gigabyte-box

A Gigabyte mainboard box.
Point Cloud (view): 33 MB
Model: 12 MB, Bagfile: 1.29 GB

View Model Bagfile

intel-box

An Intel CPU box.
Point Cloud (view): 7 MB
Model: 2 MB, Bagfile: 1.06 GB

View Model Bagfile

maisels-barrel1

A Maisel's beer barrel.
Point Cloud (view): 23 MB
Model: 8 MB, Bagfile: 1.18 GB

View Model Bagfile

maisels-barrel2

An upside-down Maisel's beer barrel.
Point Cloud (view): 28 MB
Model: 10 MB, Bagfile: 1.2 GB

View Model Bagfile

pauli-suitcase

A Pauli children's suitcase.
Point Cloud (view): 27 MB
Model: 9 MB, Bagfile: 1.07 GB

View Model Bagfile

pellets-sack1

A sack filled with pellets.
Point Cloud (view): 223 MB
Model: 73 MB

View Model

pellets-sack2

A sack filled with pellets.
Point Cloud (view): 202 MB
Model: 67 MB

View Model

persil-detergent

A Persil washing detergent bottle.
Point Cloud (view): 34 MB
Model: 12 MB, Bagfile: 1.12 GB

View Model Bagfile

post-box

A Deutsche Post box.
Point Cloud (view): 58 MB
Model: 21 MB, Bagfile: 0.76 GB

View Model Bagfile

power-box

A PC power supply box.
Point Cloud (view): 26 MB
Model: 9 MB, Bagfile: 1.07 GB

View Model Bagfile

sugar-box

A sugar container.
Point Cloud (view): 5 MB
Model: 2 MB, Bagfile: 1.04 GB

View Model Bagfile

tchibo-box

A Tchibo coffee machine box.
Point Cloud (view): 93 MB
Model: 35 MB, Bagfile: 1.1 GB

View Model Bagfile

vanish-detergent

A Vanish washing detergent container.
Point Cloud (view): 8 MB
Model: 3 MB, Bagfile: 0.85 GB

View Model Bagfile

vw-tire

A VW tire.
Point Cloud (view): 125 MB
Model: 45 MB

View Model

warrior-box

A Warrior PC case box.
Point Cloud (view): 201 MB
Model: 73 MB, Bagfile: 1.16 GB

View Model Bagfile


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