This dataset consists of over 4700 images collected from the field test site at the mobile lab of Tampere University. All images were acquired from a ZED stereo camera with resolution of 1280x720, which took more than two weeks of hard work. Data annotation took another 2 weeks.

If you use the data for your publication or other commerical purpose, please kindly cite the following papers:

@inproceedings{niu2019efficient,
  title={Efficient 3D Visual Perception for Robotic Rock Breaking},
  author={Niu, Longchuan and Chen, Ke and Jia, Kui and Mattila, Jouni},
  booktitle={2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)},
  pages={1124--1130},
  year={2019},
  organization={IEEE}
}

You can find the citation info from http://scholar.google.com/,