Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking
Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking
In this paper, we introduce a new public dataset for 6D object pose estimation and instance segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world scenes. For both, point clouds, depth images, and annotations comprising the 6D pose (position and orientation), a visibility score, and a segmentation mask …