NIST Manufacturing Objects and Assemblies Dataset (MOAD)

A collaboration between NIST and the UMass Lowell NERVE Center. This page serves as an access point for all MOAD data collected, as well as instructions for replicating the object scanning rig. This website should also serve as a means for contacting and making suggestions to the groups collecting object data. A Google Sheet containing all the download links for each object is maintained and imported below. 

• Instructions for replication

• Custom CAD files

• NIST website for additional info, CAD and STL models 

• User Interface Github

• Python script for downloading ATB Data 

This release (v1) includes the following data from cameras positioned at five different angles captured in 5° rotational increments for NIST-ATB 1, 2, 3, 4 as well as a competition practice board. There are individual scans of each subcomponent for each board as well as holistic scans of each board in a completed and empty state. 

• High resolution RGB images (Collected via Canon Rebel S3 DSLR cameras)

• Colored point clouds (transformed so all point clouds for an object align) (Collected via RealSense D455 cameras)

• Metadata of the scan (object, date, LUX, camera focal length, depth camera transform matrices)

Additional data is planned to be collected in the future, following a similar methodology to the YCB Object and Model Set:

• Segmentation masks for images

• Texture mapped 3D mesh models

• Scripts for downloading and processing the data

Funded by the National Institute of Standards and Technology (NIST) under awards 70NANB24H047 and 70NANB22H114