Highreflection and texture-less workpiece dataset(HW6D) for 6D pose estimation

This is a selfmade datases used to evaluate the 6D pose estimation network named Swin-AFF for highreflection and texture-less workpieces. In this dataset, flange and connector are metal workpieces with reflective surfaces and symmetrical shapes, while frame and clamp are 3D printed plastic workpieces without texture, varying in sizes and shapes. The Intel RealSense D435i camera was used to collect 8 videos. The actual pose of the target workpiece in each frame was labeled, which produced approximately 6,000 labeled images for each workpiece. The dataset was divided according to LineMOD, and an additional 20,000 synthetic data were added for each object to expand the dataset