---
license: cc-by-sa-4.0
pretty_name: YCB-V Depth+Stereo 6D Object Pose Estimation Dataset
task_categories:
- object-detection
tags:
- 6d-pose-estimation
- stereo
- ycb-v
- bop-format
configs:
- config_name: default
  data_files:
  - split: test
    path: test_bboxes/test_targets_pbr_left.json
---

We provide our stereo recordings for the YCB-V object dataset, as well as some of our physically-based stereo renderings.

![Teaser Image](teaser.jpg)

## 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 stereo
- `test_pbr_left.zip` — physically-based rendered test data
- `test_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`, plus `bbox_est_left`/`bbox_est_right` for 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](https://huggingface.co/datasets/tpoellabauer/YCB-V-LUMA) — chroma/luma-key recordings of the same objects
- [tpoellabauer/YCB-V-RAND](https://huggingface.co/datasets/tpoellabauer/YCB-V-RAND) — randomized-texture/lighting renderings
- [tpoellabauer/YCB-LUMA](https://huggingface.co/datasets/tpoellabauer/YCB-LUMA) — luminance-keyed localization follow-up

Paper: [arxiv.org/abs/2402.05610](https://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}
}
```