BigBIRD

BigBIRD is a 3D dataset of 125 objects, with the following data for each object:

• 600 12 megapixel images, sampling the viewing hemisphere
• 600 registered RGB-D point clouds from a Carmine 1.09 sensor
• Pose information for each of the above images and point clouds
• Segmentation masks for each of the above images (and segmented point clouds)
• Merged point clouds consisting of data from all 600 viewpoints
• Reconstructed meshes from the merged point clouds

Paper: ICRA 2014 "A Large-Scale 3D Database of Object Instances."