6Dof_synthetic_dataset

The dataset consists of a set of computer-generated images for the four objects (TV frame, green PCB, yellow PCB, and screwdriver) involved in the TV assembly task of CoLLaboratE. For every frame a pair of rgb and depth image, the mask for each object, object poses and the corresponding camera pose are stored. In total there are 3700 different poses for every object, and in addition to that 17 different backgrounds were used to augment the RGB image collection, resulting in a total of 62900 rgb images. Regarding the acquisition of the data, the virtual camera was set to simulate a real camera (Astra RGBD camera) initially used in the CoLLaboratE task of a TV assembly. Thus, the rgb, and depth images (640x480) and the corresponding segmentation masks were extracted for all the animation frames (3700 different camera positions x 17 different backgrounds).

本数据集包含一组计算机生成图像，覆盖CoLLaboratE电视装配任务所涉及的四类物体：电视框架、绿色印刷电路板（PCB，Printed Circuit Board）、黄色印刷电路板（PCB）及螺丝刀。针对每帧数据，均存储了RGB与深度图像对、各物体的分割掩码、物体位姿以及对应的相机位姿。单类物体总计拥有3700种不同位姿；此外，采用17种不同背景对RGB图像集进行数据增强，最终共得到62900张RGB图像。数据采集环节中，虚拟相机被设置为模拟CoLLaboratE电视装配任务中最初使用的真实Astra RGBD相机。据此，针对全部动画帧（3700种不同相机位姿 × 17种不同背景），提取得到分辨率为640×480的RGB图像、深度图像以及对应的分割掩码。