Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking

Understand

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.