A benchmark image dataset for industrial tools

Cai Luo*, Leijian Yu, Erfu Yang, Huiyu Zhou, Peng Ren

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Robots and Artificial Intelligence (AI) play an increasingly important role in manufacture. One of the tasks is to identify tools in the scene so that the tools can be applied to different assembly purposes. In the AI community, many datasets have been generated and deployed to train robots to recognize individual items, however, these datasets are scene-specific and lack generic background. In this paper, we report our dataset contains photos of 8 objects types that would be easily recognized by qualified workers. This is achieved by gathering images of common tools in a typical factory. The ground truth categories of our dataset are manually labeled by experienced workers, which would be worthy evaluation tools for the intelligence industrial systems. The equipment used and the image collection process are discussed, along with the data format. The mean average precisions range from 64.37% to 78.20%, which bring the possibility for future improvement. The dataset is ideal to evaluate and benchmark view-point variant, vision-based control algorithm for industry robots. It is now public available from https://github.com/tools-dataset/Industrial-Tools-Detection-Dataset.

Original languageEnglish
Pages (from-to)341-348
Number of pages8
JournalPattern Recognition Letters
Early online date17 May 2019
Publication statusPublished - 01 Jul 2019
Externally publishedYes

Bibliographical note

Funding Information:
The work of C. Luo was supported in part by the National Natural Science Foundation of China under Grant 61701541 , in part by the Shandong Provincial Natural Science Foundation , China under Grant ZR2017QF003 , and in part by the Fundamental Research Funds for the Central Universities under Grant 19CX02021A . The work of H. Zhou was supported in part by UK EPSRC under Grants EP/N508664/1 , EP/R007187/1 , EP/N011074/1 , and Royal Society-Newton Advanced Fellowship under Grant NA160342. The work of P. Ren was supported in part by the Shandong Provincial Natural Science Foundation, China under Grant ZR2019MF019. The authors would like to thank the Oil Industry Training Center in China University of Petroleum for the indutrial tools anotation support.

Publisher Copyright:
© 2019 Elsevier B.V.

Copyright 2019 Elsevier B.V., All rights reserved.


  • Benchmark
  • Image dataset
  • Industrial tools

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence


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