Texturepoor SfM Dataset

We collect an SfM dataset composed of 17 object-centric texture-poor scenes with accurate ground-truth poses. In our dataset, low-textured objects are placed on a texture-less plane. For each object, we record a video sequence of around 30 seconds surrounding the object. The ground-truth poses per frame are estimated by ARKit and BA post-processing, with the help of textured markers, which are cropped in the test images. To impose larger viewpoint changes, we sample 60 subset image bags for each scene, similar to the IMC dataset.