language:
- en
size_categories:
- 10K<n<100K
Asset Inspection Dataset
This dataset's scenes are arranged as follows:
scene/
├── cam_parameters.tar
├── depths.tar
├── images.tar
├── scene.glb Scene
└── scene.blend
The office building scene has four surface soiling settings, so it is arranged as follows
office_building
├── cam_parameters.tar
├── depths.tar
├── high_soiling_images.tar
├── low_soiling_images.tar
├── medium_soiling_images.tar
├── office_building.glb
├── very_low_soiling_images.tar
└── Office_model.blend
Images
images.tar files and *_images.tar contain the images in the dataset. Noise has been added - refer to the paper for details on our additive noise model. The images in the bridge and crane scenes are .pngs and office building images are .jpgs to save space.
Depth Maps
depths contains the depth maps. These are .exr files which store the metric depth. Each pixel has a three values each of which is the depth. To open a .exr file, one can use the OpenEXR python library or the image viewer tev. A function for opening .exr files using OpenEXR in python is included below :
import OpenEXR
def open_exr(f_name: str):
with OpenEXR.File(f_name) as infile:
header = infile.header()
channels = infile.channels()
keys = list(channels.keys())
if keys == ["RGB"]:
img = channels["RGB"].pixels
if keys == ["RGBA"]:
img = channels["RGBA"].pixels
elif keys == ["X", "Y", "Z"]:
X = channels["X"].pixels
Y = channels["Y"].pixels
Z = channels["Z"].pixels
height, width = Z.shape
img = np.empty((height, width, 3))
img[..., 0] = X
img[..., 1] = Y
img[..., 2] = Z
return img, header
Each pixel of the depth map contains the metric depth in each of the three channels. Therefore, if we return to the previous code and img[..., 0] will get the depth for each pixel in the image.
Camera Intrinsics and Extrinsics
Camera intrinsics and extrinsics for each frame are included in cam_parameters. Each frame number has an individual .json file which is formatted as follows:
{
"loc": [
world_x_position,
world_y_position,
world_z_position
],
"rot": [
w,
x,
y,
z
],
"focal_length": f_mm,
"sensor_width": sensor_width_mm,
"clip_end": max_dist_m,
"clip_start": min_dist_m
}
The loc field refers to the position of the camera in the blender world coordinate frame. The rot field refers to the rotation quaternion in the blender world coordinate frame (in scalar first format (w, x, y, z)). focal_length refers to the focal length of the camera in millimetres. sensor_width refers to the width of the camera sensor in mm. clip_start and clip_end are the minimum and maximum distance settings that blender renders.
To convert these coordinates into the familiar COLMAP coordinate system, one can use the following lines of code:
from scipy.spatial.transform import Rotation
colmap_rot = [rot[1], rot[0],
rot[3], -rot[2]]
colmap_transform = Rotation.from_quat(colmap_rot, scalar_first=True)
T_vec = -colmap_transform.apply(loc)
Mesh model
For each scene, we exported a mesh model. To produce a ground truth point cloud, we sampled the mesh using Open3D. To replicate this, one can use:
import open3d as o3d
mesh = o3d.io.read_triangle_mesh(glb_file_path)
pointcloud_sampled = mesh.sample_points_uniformly(
number_of_points=1000000)
Blender Scenes
These blender scenes were constructed in Blender 5.0.1 from assets from BlenderKit. To render the office building with different soiling settings, use the render_office.py script which can be done using Blender's in built scripting capability or with the following shell command:
blender -b Office_model.blend --python render_office.py
Sources for Blender Assets
We used the following assets in our dataset (some of them substantially modified):
- Mirazev, A.: Model: Modern Building. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/bab4567f-7f71-44f7-af6b-96f5d60cb66e/, last accessed 09 Mar 2026
- Jacinto, M., Pinto, J., Patrikar, J., Keller, J., Cunha, R., Scherer, S., Pascoal, A.: Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation. In: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1–8. IEEE (2024). https://doi.org/10.1109/ICUAS60882.2024.10556959
- Se-Cam, J.: Model: 80s Cartoon Wagon Car. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/5150ca16-f5c0-49e9-b2a4-bdf9d6a51e1a/, last accessed 09 Mar 2026
- Se-Cam, J.: Model: Cartoon Car / Toy Car. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/b24f0fab-da30-4a85-bdec-c3b2fced3bb7/, last accessed 09 Mar 2026
- Se-Cam, J.: Model: 80s Cartoon Pick-Up. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/c587fce1-af5a-4f77-9e78-af10526cf4a5/, last accessed 09 Mar 2026
- Tirindelli, D.: Model: 6kw Solar Panels Structure. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/ba8093b7-416c-461c-af22-ac311df86b03/, last accessed 09 Mar 2026
- Rexodus: Model: Antenna. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/c67c9184-3ebd-4809-adf5-91b1dd0ae759/, last accessed 09 Mar 2026
- Mitroi, R.: Model: AC Unit Big. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/1a06752c-d093-474a-b870-a011deb2366e/, last accessed 09 Mar 2026
- Wells, C.: Material: Procedural Concrete Tiles. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/3b90f722-6d01-4f62-be56-f392e9312bac/, last accessed 09 Mar 2026
- Paludo, L.: Material: Simple Concrete Procedural. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/6156591b-e7a4-4aee-a6cc-0380517e4003/, last accessed 09 Mar 2026
- Share Textures: Material: Dark Steel. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/f170e0bf-f784-482e-86eb-1d7e307a22cc/, last accessed 09 Mar 2026
- Michaud, A.: Material: Textured Painted Wall (Procedural). BlenderKit, https://www.blenderkit.com/asset-gallery-detail/9891df1f-b429-461a-bc5e-b0520e25a120/, last accessed 09 Mar 2026
- Yang, R.: Material: White Wall 02. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/9891df1f-b429-461a-bc5e-b0520e25a120/, last accessed 09 Mar 2026
- Adhe, E.: Material: Black Painted Plaster Wall. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/61c2c84d-1701-4b19-9728-f0710bab1cce/, last accessed 09 Mar 2026
- Pambudi, R.R.: Material: Material Window Glass Cycle. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/4367fa4b-9633-48a2-862f-224fbf7b1730/, last accessed 09 Mar 2026
- Yang, R.: HDRi: Urban City Highsky Bluesky. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/139e9edb-ba7f-4848-b6c5-3b5c227ca805/, last accessed 09 Mar 2026 asset-gallery-detail/aa82da45-2e29-4e4d-9ec4-631977b4d29b/>
- Cosmo: Model: Suspension/Arch Bridge. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/5358ddd3-6dbf-4a1c-8731-4c6bdcfa8338/, last accessed 09 Mar 2026
- MapacheDRelease: Model: Crane Tower. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/eb5c137e-007e-485b-bbb9-675e76fcdac9/, last accessed 09 Mar 2026
- Mohammadi, S.: Material: Realistic Procedural Grass (Cycles/Eevee). BlenderKit, https://www.blenderkit.com/asset-gallery-detail/a465bd1e-a14d-442f-90b4-0bfb02dffa9f/, last accessed 09 Mar 2026
- Godoi, M.: Material: Procedural Concrete. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/6312d40c-7afb-49e3-b167-c772147ce40d/, last accessed 09 Mar 2026
- Russo 3D: Material: Procedural Brick. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/f5ab3780-1489-4c62-8050-b400bbd14e95/, last accessed 09 Mar 2026
- Middleton, J.: Material: Bricks Procedural Wall. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/fa2d62e6-fc17-4310-a0bf-b35eaefcfd3c/, last accessed 09 Mar 2026
- Middleton, J.: Material: Brick Wall Procedural. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/79f3e321-4923-45dd-8508-8082163db23d/, last accessed 09 Mar 2026
- FreePoly: HDRi: Over The Construction Site Yellow Mud. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/66411e15-4a1f-46cb-8e3a-0271e83dc8e4/, last accessed 09 Mar 2026
- FreePoly: HDRi: Lake Highsky Blue Sky. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/aa82da45-2e29-4e4d-9ec4-631977b4d29b/, last accessed 09 Mar 2026
- NK Productions: Material: Asphalt Road Procedural. BlenderKit, https://www.blenderkit.com/asset-gallery-detail/0f2ec127-987c-49ab-9478-7f777bdde2d3/, last accessed 09 Mar 2026
NB. [2] was used for it's drone model.