cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding

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Hyperspectral Foreign-Object Detection in Bedding — Full Dataset (VIS + SWIR)

A 6-band VIS+SWIR hyperspectral dataset for industrial foreign-object detection on a bedding substrate (a tray of wood-shaving / sawdust animal bedding). Captured with a Cubert Ultris X4 + SWIR rig — 6 spectral bands at 450 / 550 / 625 nm (VIS) and 1050 / 1200 / 1450 nm (SWIR), 2400 × 4900 pixels per frame. 252 frames (193 train · 59 val), 51 frames carry pixel-level polygon annotations spanning 23 foreign-object classes.

This is the bedding counterpart to the 61-band lentils dataset at `cubert-gmbh/XMR_Industrial_Foreign_Object_Detection_Lentils`. Where the lentils set uses the visible-only 61-band Ultris XMR, this set pairs three visible bands with three SWIR bands — the SWIR channels make water, alcohol, transparent plastics and colour-matched polymers separable from the organic bedding even when they are near-invisible in RGB.

The dataset is structured for anomaly detection: the train split is 100 % normal/background (clean bedding, no foreign objects), and the val split holds the anomalous frames (foreign objects placed by hand) plus a few normal frames. This mirrors a real inspection deployment — you learn the appearance of clean product, then flag anything that deviates.

Summary

Foreign-object classes

Class id 0 (background) is the bedding substrate + tray. The 23 foreign-object classes and their annotated polygon counts (object-level, from the LabelMe source polygons) are:

The PLA_<colour>_<size> families are 3-D-printed PLA plastic fragments at five physical sizes (1, 2, 4, 8, 16 mm) in three colours (black, blue, white). The 2 mm and 1 mm fragments — only a handful of pixels each — are the hardest to localise and the most interesting test of spectral (vs spatial) discrimination. water and alcohol are liquid spills; POMC, PET, transparent_plastic are polymer pieces; leaf / fake_leaf are organic vs synthetic foliage.

⚠ See Known data issues below for fake_leaf (id 6), the PLA_blacK_4mm spelling, and the frame_10 label gap.

Why VIS + SWIR

An RGB sensor collapses light into three visible bands. This rig adds three short-wave-infrared bands (1050 / 1200 / 1450 nm). The 1450 nm band sits on a water-absorption feature, so water and alcohol spills go dark in SWIR while looking like wet sawdust in RGB. Transparent and colour-matched plastics that blend into the bedding in the visible range scatter differently in SWIR. The six bands together give a compact material fingerprint that separates foreign objects which are near-isoluminant in RGB.

The example frames below render the same cube two ways: a VIS-RGB composite (625 / 550 / 450 nm → R/G/B) and a SWIR pseudo-RGB (1450 / 1200 / 1050 nm → R/G/B), both per-channel min-max to uint8.

Example frames

All examples are rendered directly from the .cu3s in this repo (native 2400 × 4900), per-channel min-max normalised to uint8. Annotated overlays draw the LabelMe polygons (native space).

Small PLA fragments (ok_nok, val) — the hard case

data/val/20250311_104919_frame_33_ok_nok_rdx_rwx.cu3s

Water spill (nok_ok, val)

data/val/20250311_101004_frame_9_nok_ok_rdx_rwx.cu3s · 17 annotated regions

Multi-object scene (nok_nok, val)

data/val/20250310_153943_frame_121_nok_nok_rdx_rwx.cu3s

Normal / background (ok_ok, val) — no foreign objects

data/val/20250310_083936_frame_29_ok_ok_rd4_rw8.cu3s

Known data issues

This dataset is released as-is from the lab capture, with three documented quirks. None of them block training/eval, but you should know about them:

1. 1.`frame_10` label gap (the documented fault). data/val/20250311_101035_frame_10_nok_ok_rdx_rwx.cu3s has a `nok` (anomalous) filename but no annotation — its LabelMe polygon set and mask are absent. The filename label is correct (the frame does contain a foreign object), but the pixel-level ground truth was never drawn. It is flagged in splits.csv with label_fault=1 (the only such row). For image-level evaluation use the filename label (filename_label=1); for pixel-level evaluation this frame contributes no positives and should be excluded or treated as a known miss.

1. 1.`fake_leaf` (class id 6) has no polygon annotations. The class exists in the integer class map and appears as a few thin pixel slivers in the rasterised mask PNGs (annotations_raw/), but there is no corresponding LabelMe polygon, so the COCO files contain 0 `fake_leaf` regions. Treat fake_leaf as effectively unannotated at the object level.

1. 1.`PLA_blacK_4mm` spelling. Class id 9 is spelled with a capital K (PLA_blacK_4mm) in the canonical class map, while the LabelMe source labels spell it PLA_black_4mm. The COCO build maps both case-insensitively to id 9. The id is authoritative; the string is kept verbatim for traceability.

Coordinate spaces

There are two pixel spaces in play — be explicit about which you use:

• —Native (this repo's COCO + masks): 2400 × 4900. This is what cuvis returns when you open a .cu3s and read m.data["cube"].array. All COCO polygons (annotations_canonical/, data/<split>/<stem>.json) and the raw mask PNGs (annotations_raw/) live in this space.
• —Training crop: 1800 × 4300. The reference Dinomaly/EfficientAD pipelines crop the tray borders with cube[300:-300, 300:-300] before training. If you reproduce those pipelines, apply the same crop to both cube and annotations; otherwise work in native space directly.

Repository layout

README.md
LICENSE                                  (Apache-2.0)
.gitattributes                           (LFS for *.cu3s, *.png, *.mp4)
splits.csv                               # 1 row per frame (252 rows)
class_map.json                           # {class_name: id}, 0..23
annotations_canonical/
  train_global_coco.json                 # merged COCO (train; all background)
  val_global_coco.json                   # merged COCO (val; 261 polygons, native space)
annotations_raw/
  labels/                                # original LabelMe JSON (*_RGB.json) + rasterised
                                         #   mask PNGs (*_mask.png), verbatim, 2400×4900
  README.md                              # raw-label format notes
assets/
  examples/                              # rendered VIS-RGB / SWIR / annotated PNGs
data/
  train/
    <stem>.cu3s                          # one hyperspectral frame (Ultris X4 + SWIR)
    <stem>.json                          # per-cu3s COCO (image_id 0; background for train)
  val/
    <stem>.cu3s
    <stem>.json                          # per-cu3s COCO (native 2400×4900)

<stem> encodes capture metadata: YYYYMMDD_HHMMSS_frame_<n>_<tray-state>_<object-state>_<recipe> where the _ok_ok_ / _ok_nok_ / _nok_ok_ / _nok_nok_ token pair is the filename-level normal/anomalous label (see splits.csv → filename_label).

Per-<stem>.json COCO schema

{
  "info": { "file_name": "<stem>.cu3s", "split": "train|val", "space": "native 4900x2400" },
  "licenses": [ { "id": 0, "name": "Apache-2.0", "url": "…" } ],
  "categories": [ { "id": 0..23, "name": "background|water|…|water&alcohol-tray" } ],
  "images": [
    { "id": 0, "file_name": "<stem>.cu3s",
      "width": 4900, "height": 2400, "channels": 6,
      "wavelength": [450, 550, 625, 1050, 1200, 1450] }
  ],
  "annotations": [
    { "id": …, "image_id": 0, "category_id": 1..23,
      "bbox": [x, y, w, h], "segmentation": [[…polygon…]],
      "area": <shoelace px area>, "iscrowd": 0 }
  ]
}

Annotations are semantic polygons transcribed from the LabelMe source. Normal/background frames have an images entry and an empty annotations list. annotations_canonical/val_global_coco.json is the same content merged across the split with global image_id (0..58, matching splits.csv row order within val) and globally-unique annotation ids.

splits.csv columns

Splits

The all-normal train split is intentional: this is an anomaly-detection benchmark. Train an unsupervised / SSL model (e.g. Dinomaly or EfficientAD) on the clean bedding, then evaluate foreign-object localisation on the annotated val frames.

How to load

List the annotated val frames

import csv
from huggingface_hub import hf_hub_download

splits = hf_hub_download(
    repo_id="cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding",
    repo_type="dataset", filename="splits.csv")
with open(splits) as f:
    val_ann = [r for r in csv.DictReader(f)
               if r["split"] == "val" and r["has_annotation"] == "1"]
print(len(val_ann), "annotated val frames")

Stream one cu3s + COCO and render a VIS-RGB composite

from huggingface_hub import hf_hub_download
import json, cuvis, numpy as np
from PIL import Image

repo = "cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding"
stem = "20250311_104919_frame_33_ok_nok_rdx_rwx"

cu3s = hf_hub_download(repo_id=repo, repo_type="dataset", filename=f"data/val/{stem}.cu3s")
js   = hf_hub_download(repo_id=repo, repo_type="dataset", filename=f"data/val/{stem}.json")

cuvis.init()                       # or cuvis.init("/path/to/cuvis/settings")
sf = cuvis.SessionFile(cu3s)
cube = sf[0].data["cube"].array    # (2400, 4900, 6) uint16 reflectance×10000
wl   = list(sf[0].data["cube"].wavelength)   # [450, 550, 625, 1050, 1200, 1450]

# VIS-RGB composite: 625 / 550 / 450 nm -> R / G / B
idx = [wl.index(t) for t in (625, 550, 450)]
sel = cube[..., idx].astype(np.float32)
u8  = np.zeros_like(sel, np.uint8)
for c in range(3):
    lo, hi = np.percentile(sel[..., c], (0.5, 99.5))
    u8[..., c] = (np.clip((sel[..., c] - lo) / max(hi - lo, 1e-6), 0, 1) * 255).astype(np.uint8)
Image.fromarray(u8, "RGB").save("frame_rgb.png")

anns = json.load(open(js))
print("polygons:", len(anns["annotations"]))

Mirror everything to a local directory

huggingface-cli download \
  cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding \
  --repo-type=dataset --local-dir=./bedding_full

Or fetch only the lightweight metadata (skip the 167 GB of cubes) with huggingface_hub.snapshot_download(..., allow_patterns=["*.csv","*.json","*.md","assets/**","annotations_raw/**"]).

Acquisition setup

• —Camera: Cubert Ultris X4 + SWIR (6 bands: VIS 450/550/625 nm, SWIR 1050/1200/1450 nm)
• —Subject: animal-bedding substrate (wood shavings / sawdust) in a tray, with hand-placed foreign objects (PLA fragments, liquids, polymer pieces, foliage)
• —Processing mode: Reflectance (cu3s carry the calibration; cuvis returns u16 reflectance ×10000)
• —Native frame: 2400 × 4900 × 6

Lab proof-of-concept, not a production deployment study.

Citation

@misc{raj2026beddinghsi,
  title  = {Hyperspectral VIS+SWIR Foreign-Object Detection in Bedding Substrate},
  author = {Raj, Anish},
  institution = {Cubert GmbH},
  year   = {2026},
  howpublished = {Hugging Face Datasets},
  url    = {https://huggingface.co/datasets/cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding}
}

License

Released under the Apache License 2.0 — see `LICENSE`. Matches the licensing of other Cubert public datasets on Hugging Face.

Contact

Recorded and processed by the AI Team @ Cubert.

• —Author: Anish Raj — <raj@cubert-gmbh.de>
• —Team: <cuvis.ai@cubert-gmbh.de>