The Indu dataset consists of rgb and depth images obtained with the Intel Real Sense SR300 and the Asus Xtion in combination with a KUKA industrial robot KR16. Data of 9 industrial rail objects and 4 scenes with different combinations of these objects (also double instances) were generated. All measurements/values are given in millimeter. For each object 200 measurements were obtained on a half sphere around the object with different distances (approx. 300 and 600 millimeters) resulting in 2 folders: * dist300 (sr300) * dist600 (sr300 and xtion) For the different distances and sensors also 4 different camera orientations were used due to the robot workspace: the sensors are rotated in 90 degree steps around the viewray, orienting the image to be upright, upside down, and rotated left and right. For the Xtion, measurements were only obtained at a distance of 600 due to the working range of the sensor. For the object scenes the same 200 measurements were obtained with a different radius for the SR300 for testing: * dist450 (sr300) * dist600 (xtion) Each object/scene dataset contains: * depth: depth images XXX.png as mono16 bit pngs, these need to be multiplied with the depth scaler factor 0.124987 to obtain the values in millimeters * rgb: rgb images XXX.png * poses: position XXX.tcp.coords of the robot's TCP as homogeneous matrix row major (the last row 0 0 0 1 is not saved) In order to get the pose of the sensor, the position of the robot's TCP needs to be multiplied with the extrinsic (hand-eye) transformation given in the calibration file. In order to receive the transformation of the depth camera for the SR300 this is camera0 and for Xtion camera1. Further for each object/scene ground truth models (obtained with a laser striper) were obtained which are saved to the folder * model: contains the ground truth models (downsampled and high resolution) with ground truth homogeneous matrix transformation in the *.mat file For the scenes, a ground truth mesh with transformation file is given for all objects in the scene The intrinsic and extrinsic camera calibration is given in: camera_calibration_callab_dlrrmc.cal Therefore, the DLR tool Calde/Callab were used.