IndustryShapes: An RGB-D Benchmark dataset for 6D object pose estimation of industrial assembly components and tools
Paper
• 2602.05555 • Published
Datasets:
scene_id stringclasses 18 values | image_id stringlengths 1 4 | obj_id int64 1 5 | pose listlengths 4 4 | camera_intrinsics listlengths 3 3 | depth_scale float64 0.1 1 | bbox listlengths 4 4 | visibility float64 0.02 1 | split stringclasses 1 value | rgb imagewidth (px) 640 640 | depth imagewidth (px) 640 640 | mask imagewidth (px) 640 640 | mask_visib imagewidth (px) 640 640 |
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End of preview. Expand
in Data Studio
IndustryShapes
IndustryShapes is a new benchmark dataset tailored for 6D object pose estimation in industrial settings. Targeting the challenges of textureless objects, reflective surfaces, and complex assembly tools, this dataset provides high-quality RGB-D data with precise annotations to advance the state of the art in robotic manipulation.
Dataset Features
Unlike traditional datasets focused on household products, IndustryShapes introduces five new industry-relevant object types with challenging properties. The dataset features:
- Realistic Settings: Objects captured in authentic industrial assembly environments.
- Diverse Complexity: Scenes ranging from simple to challenging, including single and multiple objects, as well as multiple instances of the same object.
- Unique Modalities: It is the first dataset to offer RGB-D static onboarding sequences to support model-free and sequence-based approaches.
- Comprehensive Annotations: Includes high-quality annotated poses, bounding boxes, and segmentation masks.
Dataset Organization
The dataset is organized into two parts:
- Classic Set: The Classic Set supports instance-level pose estimation with 21 scenes (13 train, 8 test). Includes images from real industrial scenes with varying complexity, Lab captured and Synthetically generated data.
- Extended Set: Inlucdes three challenging office scenes with unconstrained lighting, distractors, occlusions and diverse viewpoints featuring all objects. It also includes 10 RGB-D static onboarding sequences (2 per object).
Tasks
- 6D Object Pose Estimation (Instance-level and Novel Object)
- Object Detection
- Image Segmentation
- Robotic Manipulation
- Downloads last month
- 65
Size of downloaded dataset files:
7.11 GB
Size of the auto-converted Parquet files:
7.11 GB
Number of rows:
22,469