Pigs: A stepwise RGB-D novel pig carcass cutting dataset

Ian de Medeiros Esper; Luiz Eduardo Cordova-Lopez; Dmytro Romanov; Ole Alvseike; Pål Johan From; Alex Mason

doi:10.1016/j.dib.2022.107945

Pigs: A stepwise RGB-D novel pig carcass cutting dataset

Data Brief. 2022 Feb 15:41:107945. doi: 10.1016/j.dib.2022.107945. eCollection 2022 Apr.

Authors

Ian de Medeiros Esper¹, Luiz Eduardo Cordova-Lopez¹, Dmytro Romanov¹, Ole Alvseike², Pål Johan From¹, Alex Mason^{1

2}

Affiliations

¹ Norwegian Univiersity of Life Sciences - Faculty of Science and Technology, Universitetstunet 3, 1430 Ås, Norway.
² Animalia AS, Oslo 0585, Norway.

Abstract

This paper presents a pig carcass cutting dataset, captured from a bespoke frame structure with 6 Intel® RealSense™ Depth Camera D415 cameras attached, and later recorded from a single camera attached to a robotic arm cycling through the positions previously defined by the frame structure. The data is composed of bags files recorded from the Intel's SDK, which includes RGB-D data and camera intrinsic parameters for each sensor. In addition, ten JSON files with the transformation matrix for each camera in relation to the left/front camera in the structure are provided, five JSON files for the data recorded with the bespoke frame and five JSON files for the data captured with the robotic arm.

Keywords: CHU, Carcass Handling Unit; Pig cutting depth data; Pig cutting images; Pig/pork carcass; RGB-D; Stepwise pig cutting.