DOI: 10.5281/zenodo.5506550
title: Tracks of Bulk Material Transported on a Conveyor Belt

description: This data set comprises tracks of different materials (balls, cylinders, peppercorns, and wheat grains) on a conveyor belt. The tracks were obtained by recording images of transported bulk material on the small-scale optical belt sorter Tablesort, extracting the centroids of the bulk materials' particles, employing a multitarget tracker to extract the tracks of the particles. In total, the data include the tracks of 7712 balls, 19 200 cylinders, 7170 peppercorns, and 8702 wheat grains. The raw images were recorded on a Bonito CL-400C. The resolution is 2320 x 1720 pixels and each pixel is approximately 0.056 mm long in world coordinates. The frame rate is 192.9 Hz. A thorough description of the Tablesort system can be found in <em>Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Jürgen Beyerer,</em> <strong>Experimental Evaluation of a Novel Sensor-Based Sorting Approach Featuring Predictive Real-Time Multiobject Tracking</strong>, Transactions on Industrial Electronics, February 2020. See also the project website. For the datasets of raw images, see: Images of Balls Transported on a Conveyor Belt - Recording 01 - https://doi.org/10.5281/zenodo.5095500<br> Images of Balls Transported on a Conveyor Belt - Recording 02 - https://doi.org/10.5281/zenodo.5095562<br> Images of Balls Transported on a Conveyor Belt - Recording 03 - https://doi.org/10.5281/zenodo.5095640<br> Images of Balls Transported on a Conveyor Belt - Recording 04 - https://doi.org/10.5281/zenodo.5096551<br> Images of Balls Transported on a Conveyor Belt - Recording 05 - https://doi.org/10.5281/zenodo.5096747<br> Images of Balls Transported on a Conveyor Belt - Recording 06 - https://doi.org/10.5281/zenodo.5097011<br> Images of Balls Transported on a Conveyor Belt - Recording 07 - https://doi.org/10.5281/zenodo.5102938<br> Images of Balls Transported on a Conveyor Belt - Recording 08 - https://doi.org/10.5281/zenodo.5102962<br> Images of Balls Transported on a Conveyor Belt - Recording 09 - https://doi.org/10.5281/zenodo.5103015<br> Images of Balls Transported on a Conveyor Belt - Recording 10 - https://doi.org/10.5281/zenodo.5103031<br> Images of Balls Transported on a Conveyor Belt - Recording 11 - https://doi.org/10.5281/zenodo.5104865<br> Images of Balls Transported on a Conveyor Belt - Recording 12 - https://doi.org/10.5281/zenodo.5104890<br> Images of Balls Transported on a Conveyor Belt - Recording 13 - https://doi.org/10.5281/zenodo.5104907<br> Images of Balls Transported on a Conveyor Belt - Recording 14 - https://doi.org/10.5281/zenodo.5105732<br> Images of Balls Transported on a Conveyor Belt - Recording 15 - https://doi.org/10.5281/zenodo.5105782 Images of Cylinders Transported on a Conveyor Belt - Recording 01 - https://doi.org/10.5281/zenodo.5141471<br> Images of Cylinders Transported on a Conveyor Belt - Recording 02 - https://doi.org/10.5281/zenodo.5142415<br> Images of Cylinders Transported on a Conveyor Belt - Recording 03 - https://doi.org/10.5281/zenodo.5142489<br> Images of Cylinders Transported on a Conveyor Belt - Recording 04 - https://doi.org/10.5281/zenodo.5142540<br> Images of Cylinders Transported on a Conveyor Belt - Recording 05 - https://doi.org/10.5281/zenodo.5142639<br> Images of Cylinders Transported on a Conveyor Belt - Recording 06 - https://doi.org/10.5281/zenodo.5142705<br> Images of Cylinders Transported on a Conveyor Belt - Recording 07 - https://doi.org/10.5281/zenodo.5142738<br> Images of Cylinders Transported on a Conveyor Belt - Recording 08 - https://doi.org/10.5281/zenodo.5142781<br> Images of Cylinders Transported on a Conveyor Belt - Recording 09 - https://doi.org/10.5281/zenodo.5142812<br> Images of Cylinders Transported on a Conveyor Belt - Recording 10 - https://doi.org/10.5281/zenodo.5145279<br> Images of Cylinders Transported on a Conveyor Belt - Recording 11 - https://doi.org/10.5281/zenodo.5145385 Images of Peppercorns Transported on a Conveyor Belt - Recording 01 - https://doi.org/10.5281/zenodo.5140321<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 02 - https://doi.org/10.5281/zenodo.5140358<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 03 - https://doi.org/10.5281/zenodo.5138524<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 04 - https://doi.org/10.5281/zenodo.5140378<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 05 - https://doi.org/10.5281/zenodo.5140411<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 06 - https://doi.org/10.5281/zenodo.5140436<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 07 - https://doi.org/10.5281/zenodo.5140456<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 08 - https://doi.org/10.5281/zenodo.5140863<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 09 - https://doi.org/10.5281/zenodo.5140968<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 10 - https://doi.org/10.5281/zenodo.5141033<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 11 - https://doi.org/10.5281/zenodo.5141143<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 12 - https://doi.org/10.5281/zenodo.5141210<br> Images of Peppercorns Transported on a Conveyor Belt - Recording 13 - https://doi.org/10.5281/zenodo.5141382 Images of Wheat Grains Transported on a Conveyor Belt - Recording 01 - https://doi.org/10.5281/zenodo.5037096<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 02 - https://doi.org/10.5281/zenodo.5076022<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 03 - https://doi.org/10.5281/zenodo.5076129<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 04 - https://doi.org/10.5281/zenodo.5076163<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 05 - https://doi.org/10.5281/zenodo.5076229<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 06 - https://doi.org/10.5281/zenodo.5076251<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 07 - https://doi.org/10.5281/zenodo.5080533<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 08 - https://doi.org/10.5281/zenodo.5080547<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 09 - https://doi.org/10.5281/zenodo.5081016<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 10 - https://doi.org/10.5281/zenodo.5081063<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 11 - https://doi.org/10.5281/zenodo.5091432<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 12 - https://doi.org/10.5281/zenodo.5091458<br> Images of Wheat Grains Transported on a Conveyor Belt - Recording 13 - https://doi.org/10.5281/zenodo.5091484 The multitarget tracker used can be found at https://github.com/KIT-ISAS/TracksortAlgorithm. Algorithms for two key challenges can be developed and evaluated on the data sets: Multitarget tracking for predicting the particle’s motion. This can be used to enhance the separation of optical sorters. For further details on this, see the publications <em>Florian Pfaff, Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Robin Gruna, Thomas Längle, Jürgen Beyerer,</em><br> <strong>TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials,</strong><br> Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September 2015. <em>Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Robin Gruna, Harald Kruggel-Emden, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer,</em><br> <strong>Predictive Tracking with Improved Motion Models for Optical Belt Sorting</strong>,<br> at – Automatisierungstechnik, April 2020. Classification of particles. The classification may use a multitarget tracker to accumulate visual features over time. One can also use the information on the trajectory to classify the particles. For information on this, refer to <em>Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer,</em><br> <strong>Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information,</strong><br> Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017), Karlsruhe, Germany, March 2017. <em>Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer,</em><br> <strong>Motion-Based Material Characterization in Sensor-Based Sorting,</strong> <br> tm – Technisches Messen, De Gruyter, October 2017. <br> To this date, publications that used these data include <em>Daniel Pollithy, Marcel Reith-Braun, Florian Pfaff, Uwe D. Hanebeck,</em><br> <strong>Estimating Uncertainties of Recurrent Neural Networks in Application to Multitarget Tracking</strong>,<br> Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), Virtual, September 2020. The used CSV format uses commas as separators. The first line is the header. The number of columns depends on the highest track id. The columns provide the x- and y-coordinates alternatingly, as described in the header. The x-axis is aligned orthogonal to the transport direction, while the y-axis goes along the transport direction. The number of rows corresponds to the length of the longest track that appears in the file. Tracks that are already terminated up to that point are padded with "NaN"s. The values are in pixels. <strong>Acknowledgment</strong> The IGF project 20354 N of the research association Forschungs-Gesellschaft Verfahrens-Technik e.V. (GVT) was supported via the AiF in a program to promote the Industrial Community Research and Development (IGF) by the Federal Ministry for Economic Affairs and Energy on the basis of a resolution of the German Bundestag.