“货架和手提包”基准数据集

test - 266 scenes captured in an office environment (at MIT). calibration - a set of calibration scenes and pre-calibrated relative camera poses for the setup in the office environment. A calibration scene consists of an empty tote or shelf bin, overlaid with textured images rich with 2D features for Structure-from-Motion. empty - a set of scenes for an empty (no object) setup in the office environment. competition - 25 scenes captured in the warehouse environment at the APC location in Germany, recorded during our final competition runs. practice - 161 scenes captured in the warehouse environment at the APC location in Germany, recorded during our practice runs. calibration - a set of calibration scenes and pre-calibrated relative camera poses for the setup in the warehouse environment. A calibration scene consists of an empty tote or shelf bin, overlaid with textured images rich with 2D features for Structure-from-Motion. empty - a set of scenes for an empty (no object) setup in the warehouse environment. • segm/frame-XXXXXX.segm.png - 8-bit PNG image of ground truth object segmentation labels automatically generated using the manual 6D object pose labels. Divide each pixel value by 6 to obtain label range [0,39].