Large-scale 6d object pose estimation dataset for industrial bin-picking
K Kleeberger, C Landgraf… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
In this paper, we introduce a new public dataset for 6D object pose estimation and instance
segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world
scenes. For both, point clouds, depth images, and annotations comprising the 6D pose
(position and orientation), a visibility score, and a segmentation mask for each object are
provided. Along with the raw data, a method for precisely annotating real-world scenes is
proposed. To the best of our knowledge, this is the first public dataset for 6D object pose …
segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world
scenes. For both, point clouds, depth images, and annotations comprising the 6D pose
(position and orientation), a visibility score, and a segmentation mask for each object are
provided. Along with the raw data, a method for precisely annotating real-world scenes is
proposed. To the best of our knowledge, this is the first public dataset for 6D object pose …
[引用][C] Large-scale 6d object pose estimation dataset for industrial bin-picking. In 2019 IEEE
K Kleeberger, C Landgraf, MF Huber - RSJ International Conference on Intelligent Robots …
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