Automotive Wire Harness Connector Samples 20

This dataset contains RGB images and depth data of twenty automotive wire harness connector terminals, along with ground-truth labels of 2D bounding boxes, 3D bounding boxes, 6-DoF object poses, and image masks. The dataset was created with the intention of promoting the research and development of object detection and pose estimation methods for robotic handling of small objects in industry like connectors. Besides, the dataset can also be used for research in object detection and pose estimation on small texture-less objects.

本数据集包含20个汽车线束连接器端子的RGB图像与深度数据，同时附带2D边界框（2D bounding boxes）、3D边界框（3D bounding boxes）、6自由度位姿（6-DoF object poses）以及图像掩码（image masks）的真值标签（ground-truth labels）。本数据集的构建旨在推动工业场景下连接器等小型物体的机器人抓取相关目标检测与位姿估计方法的研究与开发。此外，本数据集还可用于无纹理小型物体的目标检测与位姿估计相关研究。