Dataset Links
Due to space limitations, we have created many versions of the full dataset that can be downloaded separately. Please download whichever best suits your needs. All files are in the .rar format.
WISDOM-Full (11.3 GB) : Contains all depth images, color images, modal segmasks, bin segmasks, and unmodified depth images (stored as uncompressed numpy arrays) for both WISDOM-Sim and WISDOM-Real (recommended only for users that wish to benchmark PCL methods on simulated data or train on unmodified simulated data).
WISDOM (1.6 GB) : Contains all data in WISDOM-Full except the unmodified depth images (recommended for all users that want to replicate training and benchmarking).
WISDOM-Sim-Full (10.1 GB) : Contains all depth images, color images, modal segmasks, bin segmasks, and unmodified depth images (stored as uncompressed numpy arrays) for WISDOM-Sim. Download all three parts for the full dataset.
WISDOM-Sim (1.1 GB) : Contains all data in WISDOM-Sim-Full except the unmodified depth images.
WISDOM-Real-Full (1.21 GB) : Contains all depth images, color images, modal segmasks, bin segmasks, and unmodified depth images (stored as uncompressed numpy arrays) for WISDOM-Real.
WISDOM-Real (555 MB) : Contains all data in WISDOM-Real-Full except the unmodified depth images (recommended if only benchmarking).
Information on dataset structure can be found in the README.txt file.