This dataset package contains the software and data used for Detection-based Object Labeling on the RGB-D Scenes Dataset as implemented in the paper: Detection-based Object Labeling in 3D Scenes Kevin Lai, Liefeng Bo, Xiaofeng Ren, and Dieter Fox. ICRA 2012, May 2012. Software object_labeling.tar (700 KB) Data detection_train.tar - Object Training Data (16 GB) detection_background.tar - Background Training Data (1.8 GB) detection_test.tar - Scene Evaluation Data (803 MB) detection_groundtruth.tar - Scene Ground Truth Data (136 KB) aligned_rgbd_scenes.tar - Aligned 3D scene point clouds (600 MB)

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