6D Pose Estimation & Synthetic Vision Datasets
Collection
Datasets for 6D object pose estimation, synthetic data generation, and transparency detection from tpoellabauer. • 6 items • Updated
Datasets:
Search is not available for this dataset
im_id int64 0 999 | inst_count int64 1 1 | obj_id int64 1 21 | scene_id int64 45 49 |
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1 | 1 | 3 | 45 |
1 | 1 | 14 | 45 |
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1 | 1 | 1 | 45 |
1 | 1 | 19 | 45 |
1 | 1 | 7 | 45 |
1 | 1 | 17 | 45 |
2 | 1 | 15 | 45 |
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2 | 1 | 14 | 45 |
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2 | 1 | 21 | 45 |
2 | 1 | 16 | 45 |
2 | 1 | 2 | 45 |
2 | 1 | 13 | 45 |
2 | 1 | 1 | 45 |
2 | 1 | 19 | 45 |
2 | 1 | 7 | 45 |
2 | 1 | 17 | 45 |
3 | 1 | 10 | 45 |
3 | 1 | 14 | 45 |
3 | 1 | 9 | 45 |
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3 | 1 | 5 | 45 |
3 | 1 | 21 | 45 |
3 | 1 | 2 | 45 |
3 | 1 | 13 | 45 |
3 | 1 | 1 | 45 |
3 | 1 | 19 | 45 |
3 | 1 | 7 | 45 |
3 | 1 | 17 | 45 |
4 | 1 | 10 | 45 |
4 | 1 | 3 | 45 |
4 | 1 | 14 | 45 |
4 | 1 | 9 | 45 |
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4 | 1 | 5 | 45 |
4 | 1 | 21 | 45 |
4 | 1 | 2 | 45 |
4 | 1 | 13 | 45 |
4 | 1 | 1 | 45 |
4 | 1 | 7 | 45 |
5 | 1 | 10 | 45 |
5 | 1 | 3 | 45 |
5 | 1 | 14 | 45 |
5 | 1 | 9 | 45 |
5 | 1 | 18 | 45 |
5 | 1 | 20 | 45 |
5 | 1 | 5 | 45 |
5 | 1 | 21 | 45 |
5 | 1 | 16 | 45 |
5 | 1 | 12 | 45 |
5 | 1 | 13 | 45 |
5 | 1 | 1 | 45 |
5 | 1 | 19 | 45 |
5 | 1 | 8 | 45 |
5 | 1 | 7 | 45 |
5 | 1 | 17 | 45 |
5 | 1 | 4 | 45 |
6 | 1 | 14 | 45 |
6 | 1 | 9 | 45 |
6 | 1 | 20 | 45 |
6 | 1 | 5 | 45 |
6 | 1 | 13 | 45 |
6 | 1 | 1 | 45 |
6 | 1 | 19 | 45 |
6 | 1 | 7 | 45 |
6 | 1 | 17 | 45 |
7 | 1 | 15 | 45 |
7 | 1 | 10 | 45 |
7 | 1 | 3 | 45 |
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We provide our stereo recordings for the YCB-V object dataset, as well as some of our physically-based stereo renderings.
Contents
stereo+depth recordings/— raw stereo video recordings (.mkv)train_pbr_left*.z*,train_pbr_right*.z*— physically-based rendered training data (split zip archives), left/right stereotest_pbr_left.zip— physically-based rendered test datatest_bboxes/— BOP-format annotation JSONs:test_targets_pbr_left.json— flat list of{im_id, inst_count, obj_id, scene_id}targets (shown in the Dataset Viewer above)test_pbr_left.json,test_pbr_right.json,test_pbr_stereo.json— per-scene/image estimated bounding boxes (bbox_est, plusbbox_est_left/bbox_est_rightfor the stereo file), keyed by"<scene_id>/<im_id>". Nested/heterogeneous structure — not rendered by the Viewer, download directly.
camera.json— camera intrinsics
Related datasets
- tpoellabauer/YCB-V-LUMA — chroma/luma-key recordings of the same objects
- tpoellabauer/YCB-V-RAND — randomized-texture/lighting renderings
- tpoellabauer/YCB-LUMA — luminance-keyed localization follow-up
Paper: arxiv.org/abs/2402.05610
If you find this dataset useful, please cite
@article{pollabauer2024extending,
title={Extending 6D Object Pose Estimators for Stereo Vision},
author={Pöllabauer, Thomas and Emrich, Jan and Knauthe, Volker and Kuijper, Arjan},
journal={arXiv preprint arXiv:2402.05610},
year={2024}
}
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