Columbia Object Image Library (COIL-20) is a database of gray-scale images of 20 objects. The objects were placed on a motorized turntable against a black background. The turntable was rotated through 360 degrees to vary object pose with respect to a xed camera. Images of the objects were taken at pose intervals of 5 degrees. This corresponds to 72 images per object. The database has two sets of images. The rst set contains 720 unprocessed images of 10 objects. The second contains 1,440 size normalized images of 20 objects. COIL-20 is available online via ftp. i