TUW

The TUW dataset contains sequences of point clouds in 15 static and 3 partly dynamic environments. Each view of a scene presents multiple objects; some object instances occur multiple times and are highly occluded in certain views. The model database consists of 17 models with a maximum extent of 30 cm, which are partly symmetric and/or lack distinctive surface texture. The dataset consists of the reconstructed 3D object models, the individual key frames of the models, test scenes and the 6DOF pose of each object present in the respective view. Each point cloud is represented by RGB color, depth and normal information.

搜集汇总

背景与挑战

背景概述

TUW是一个用于3D实例分割的数据集，包含15个静态和3个部分动态环境中的点云序列，每个点云提供RGB颜色、深度和法线信息。该数据集特点是物体实例多次出现且高度遮挡，模型库包含17个对称或缺乏纹理的物体模型，适用于6自由度姿态估计和场景理解任务。