DoPose: dataset for object segmentation and 6D pose estimation

DoPose (Dortmund Pose)is a dataset of highly cluttered and closely stacked objects. The dataset is saved in the BOP format. The dataset includes RGB images, Depth images, 6D Pose of objects, segmentation mask (all and visible), COCO Json annotation, camera transformations, and 3D model of all objects. The dataset contains 2 different types of scenes (table and bin). Each scene contains different view angles. For the bin scenes, the data contains 183 scenes with 2150 image views. In those 183 scenes 35 scenes contain 2 views, 20 contains 3 views and 128 contains 16 views. And for table scenes, the data contains 118 scenes with 1175 image views. in Those 118 scenes, 20 scenes contain 3 views, 50 scenes with 6 images, and 48 scenes with 17 images. So in total, our data contains 301 scenes and 3325 view images. Most of the scenes contain mixed objects. The dataset contains 19 objects in total. For more info about the dataset content and collection process please refer to our Arxiv preprint If you have any questions about the dataset, please contact <strong>[e-mail]</strong>

DoPose（多特蒙德姿态数据集，Dortmund Pose）是一个面向高度杂乱且紧密堆叠物体的数据集。该数据集以BOP格式存储，包含RGB图像、深度图像、物体6D姿态、分割掩码（整体掩码与可见掩码）、COCO格式JSON标注、相机位姿变换以及所有物体的三维模型。数据集涵盖两种场景类型：桌面场景与料箱场景，每种场景均包含多种不同视角。其中料箱场景共计183个场景、2150张视角图像：35个场景含2个视角，20个场景含3个视角，128个场景含16个视角。桌面场景则包含118个场景、1175张视角图像：20个场景含3个视角，50个场景含6张图像，48个场景含17张图像。综上，该数据集总计包含301个场景与3325张视角图像。大多数场景中包含多类混合物体，整体共涵盖19类物体。如需了解该数据集的内容与采集流程的更多细节，请参阅我们的Arxiv预印本。若您对该数据集有任何疑问，请联系<[e-mail]>