| --- |
| pretty_name: NUpbr RoboCup Jersey-Colour Robot Detection Dataset |
| license: mit |
| task_categories: |
| - object-detection |
| tags: |
| - robotics |
| - robocup |
| - synthetic |
| - simulation |
| - physically-based-rendering |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # NUpbr RoboCup Jersey-Colour Robot Detection Dataset |
|
|
| 1,707 physically-based-rendered images of RoboCup Humanoid Soccer scenes, |
| generated with [NUpbr](https://github.com/NUbots/NUpbr), each |
| containing 1-4 robots and one ball, with per-instance bounding boxes and, |
| for each robot, a jersey colour. |
|
|
| Every frame is restricted to at most two distinct jersey colours across all |
| robots present, regardless of robot count. Each robot is independently |
| assigned one of the two colours sampled fresh for that frame from a wide, |
| vividly-saturated colour space. This makes the dataset suited to |
| colour-conditioned role classification (e.g. teammate/opponent assignment |
| from an externally supplied reference colour), in addition to standard |
| robot/ball detection. |
|
|
| Robots whose bounding box is cropped at the top edge of the frame are |
| excluded from the annotations: a top-cropped box typically shows only legs, |
| with the jersey-bearing torso cut off entirely, leaving no colour signal to |
| learn from. Images left with no remaining robots after this filter are |
| dropped outright. 2,000 raw renders were filtered down to the 1,707 images |
| and 2,702 robot instances published here. |
|
|
| ## Dataset structure |
|
|
| ```text |
| images/000001.png ... images/001707.png 1280x1024 RGBA renders |
| metadata.jsonl one JSON object per image |
| ``` |
|
|
| Each line of `metadata.jsonl`: |
|
|
| ```json |
| { |
| "file_name": "images/000001.png", |
| "robots": [ |
| {"bbox": [640, 70, 717, 240], "jersey_colour": "#c339e6", "model": "GankenKun"} |
| ], |
| "ball": {"bbox": [408, 470, 523, 585], "id": "ball_030"} |
| } |
| ``` |
|
|
| - `bbox`: `[x_min, y_min, x_max, y_max]` in integer pixel coordinates, origin top-left. |
| - `jersey_colour`: `#rrggbb` hex string, unique per robot-colour-group within a frame (at most two distinct values per image). |
| - `model`: the robot mesh/model used for that instance (e.g. `nugus`,`GankenKun`, `darwin`, `wolfgang`). |
| - `ball.id`: the ball texture/asset identifier used for that instance. |
| - Every image has exactly one ball and between one and four robots. |
|
|
| This follows the Hugging Face `imagefolder` convention -- loadable directly with: |
|
|
| ```python |
| from datasets import load_dataset |
| ds = load_dataset("imagefolder", data_dir="path/to/robot_jersey_dataset") |
| ``` |
|
|
| ## Generation |
|
|
| Images were rendered with NUpbr, a Blender-based physically-based rendering |
| pipeline for RoboCup Humanoid Soccer scenes. Robot |
| positions, camera viewpoint, HDRI environment, and jersey colours are |
| randomised per frame; a frame is discarded and regenerated if it does not |
| end up with between one and four visible robots, or if any visible robot or |
| ball would otherwise be left without a valid bounding box (occluded, |
| out of frame, or an implausible fisheye-projection artifact). |
|
|
| After rendering, robots whose box is cropped at the top edge of the frame |
| are removed from the annotations (jersey not visible), and any image left |
| with no annotated robots as a result is dropped from the release entirely. |
|
|
