Instruments3D

该数据集名为Instruments3D，包含了5种手术器械的13个视频，这些器械包括超声支气管镜、柔性及刚性内窥镜、胸腔镜和超声探头。数据集展示了通过Intel RealSense相机近距离捕捉到的人手操作YCB物体的RGB-D视频。此外，地面真实数据是通过多视角配准得出的，该数据集还呈现了诸如频繁遮挡和严重运动模糊等挑战。规模上，涵盖了5种手术器械的13个视频。该数据集的任务是对手术器械进行3D追踪。

This dataset, named Instruments3D, contains 13 RGB-D videos of 5 types of surgical instruments, including ultrasound bronchoscopes, flexible and rigid endoscopes, thoracoscopes, and ultrasound probes. These videos capture close-range footage of a human hand manipulating YCB objects using an Intel RealSense camera. The ground-truth data for this dataset is obtained via multi-view registration. Furthermore, this dataset presents challenges such as frequent occlusions and severe motion blur. In terms of scale, it covers 13 videos across 5 surgical instrument categories. The task of this dataset is 3D tracking of surgical instruments.