This is the data set accompanying the paper "Quantifying the Accuracy of Collaborative IoT and Robot Sensing in Indoor Settings of Rigid Objects" by Sune L. Sørensen and Mikkel Baun Kjærgaard. Please refer to the paper for a description of the hardware used to record the data and how it is recorded. It consists of the following files: IoT camera images: RBG images, named img_aa_bbb_0.jpg, where aa is the setup ID, bb is the camera ID (101, 102, 103 or 104). Robot RGB images: RBG images, named aa0.png where aa is the setup ID. Robot point clouds: pcd-files, named aa0.pcd where aa is the setup ID. The transformation from the IoT coordinate system to the robot coordinate system is: robotTiot = np.array([[0.914428, 0.134934, -0.378832, 3.76475], [0.393661, -0.49845, 0.772371, 0.791051], [-0.0846896, -0.855336, -0.509056, 2.37154], [0.0, 0.0, 0.0, 1.0]]) Example, tranforming a pose in IoT coordinates to robot coordinates: p_rob = robotTiot * p_iot