The whole database can be downloaded as a single archive bois_db.zip (~24 GB) . Alternatively, all files belonging to the particular target object IDs can be downloaded as separate archives (TO_ID.zip) by clicking on the corresponding ID in the table below. All Meta information for the database is provided in a separate Excel file BOiSmeta.xls.
The archive containing the whole database, as well as the archives for individual target object IDs unpack into the same directory structure. The first folder “original_scenes_DxO” contains the distortion corrected scene images as PNG files with a resolution of 4272x2848 pixels. The scenes without target object are named O_<id>L_DxO.png, the scenes with the target object at the expected location O_<id>E_DxO.png, and the scene with the target object at the unexpected location O_<id>U_DxO.png.
The second folder “target_objects” contains a subfolder DxO, in which for each target object <id> one can find a folder TO_<id>_DxO with the corrected PNG images of the different views of the target objects, TO_<id>_<vertical angle>_<horizontal viewpoint>_DxO.png. These were down-sampled to 1152x786 pixel resolution in order to keep the total size of the database practicable. The third folder “masks” contains the segmentation masks of the scenes with the target object in expected (O_<id>E_m.png) and unexpected (O_<id>U_m.png) location at 4272x2848 pixel resolution.
The last folder “cpms” contains the contextual prior maps as gray level images (CPM_<id>.png) at 4272x2848 pixels resolution. Note that these maps are scaled to use the whole gray value range for visualization purposes and need to be normalized such that the sum over all pixels is 1 to ensure comparability across scenes.
In addition to the averaged and normalized contextual prior maps, we provide the 130 individual contextual prior segmentations of our 10 subjects at 600x400 pixels resolution (Indiviudal_priors_zip). These files are named <subject_id>_O_<id>L_s.png, where <subject_id> ranges from 2 to 11, and the gray values (0, 85, 170, 255) in the images encode the four prior probability levels from lowest to highest.
Indoor
ID | Target Object | ID | Target Object | ID | Target Object |
---|---|---|---|---|---|
kitchen | hall | bathroom | |||
6 | pepper mill | 25 | bottle | 1 | bracelet |
10 | bread knife | 61 | shoes | 8 | body lotion |
12 | dishwashing brush | 103 | hand brush | 19 | shampoo |
15 | curry powder | 112 | lace | 22 | rubber duck |
16 | thermos flask top | 113 | scarf | 31 | hand soap |
17 | pot lid | 121 | flyer | 40 | toilet paper |
20 | egg | 127 | fire extinguishers | 62 | shampoo |
26 | bottle brush | livingroom | 79 | urinal deodorizer block | |
29 | fridge magnet | 9 | glasses | 81 | tooth brush |
32 | wooden spoon | 13 | CD | 83 | tooth paste |
33 | cactus | 21 | bottle of eggnogg | 123 | bowl with hair accessories |
43 | clock | 23 | remote control | 124 | sink plug |
46 | knife | 27 | yarn | bedroom | |
47 | milk | 30 | fireplace hook | 11 | clothes hanger |
51 | coffee filter | 34 | candle | 18 | Duden dictionary |
55 | scissors | 36 | cushion | 41 | pillow |
58 | dishwasher tab | 44 | battery charger | 42 | tie |
59 | dish sponge | 50 | music book | 49 | tie pin |
60 | mustard | 65 | toy | 52 | baby wipes |
68 | dishwashing detergent | 76 | cake server | 80 | alarm clock |
69 | sweetener | 90 | door handle | 99 | tablets |
70 | cup | 100 | tissue | 104 | belt |
71 | tea bag | 102 | vacuum cleaner nozzle | other | |
74 | toaster | 126 | flower | 2 | car key |
75 | pot | office | 38 | infusion bag | |
77 | straw | 5 | flip chart marker | 48 | cat food |
78 | kettle | 7 | pencil sharpener | 53 | pastry |
88 | painting | 14 | computer mouse | 72 | skull |
92 | iron | 28 | light bulb | 82 | pullingup aid |
95 | bottle lid | 39 | glue stick | 101 | door sign |
110 | banana | 45 | hole puncher | 105 | rubber glove |
111 | toast | 54 | scissors | 106 | paper towel |
63 | pen | 109 | disinfectant | ||
67 | watering can | 116 | screw-wrench | ||
96 | telephone receiver | 117 | cordless screwdriver bit | ||
97 | coffee mug cover | 118 | electrical plug | ||
98 | coin | 119 | adhesive bandage | ||
107 | cabinet key | 129 | sugar sprinkler | ||
108 | usb stick | 130 | banknote | ||
122 | adhesive tape |
Outdoor
ID | Target Object | ID | Target Object |
---|---|---|---|
garden | park | ||
4 | broom brush | 3 | banana peel |
35 | shovel | 56 | bike lock |
37 | clothespin | 66 | toy digger |
57 | keys | 73 | table tennis bat |
64 | sock | terrace | |
84 | newspaper | 24 | lighter |
86 | garden watering can | 85 | folding rule |
87 | hose connection | 91 | coffee pot lid |
89 | swings | other | |
93 | Mercedes star | 120 | car wheel |
94 | pot plant | 128 | road sign |
114 | ashtray | ||
115 | cooking grate | ||
125 | thermometer |