CenDerNet: Center and Curvature Representations for Render-and-Compare 6D Pose Estimation

Roovere, Peter De; Daems, Rembert; Croenen, Jonathan; Bourgana, Taoufik; Hoog, Joris De; wyffels, Francis

doi:10.1007/978-3-031-25085-9_6

Cited by 1 publication

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References 38 publications

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“…Moreover, our dataset is highly useful for various computer vision tasks, including 6D pose estimation, object detection, instance segmentation, novel view synthesis, 3D reconstruction, and active perception. In a recent study, our dataset was used for 6D object pose estimation [34]. The authors first trained PVNet [35], a popular 6D object pose estimation method, on our dataset.…”

Section: Usagementioning

confidence: 99%

Sim-to-Real Dataset of Industrial Metal Objects

De Roovere,

Moonen,

Michiels

et al. 2024

Machines

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We present a diverse dataset of industrial metal objects with unique characteristics such as symmetry, texturelessness, and high reflectiveness. These features introduce challenging conditions that are not captured in existing datasets. Our dataset comprises both real-world and synthetic multi-view RGB images with 6D object pose labels. Real-world data were obtained by recording multi-view images of scenes with varying object shapes, materials, carriers, compositions, and lighting conditions. This resulted in over 30,000 real-world images. We introduce a new public tool that enables the quick annotation of 6D object pose labels in multi-view images. This tool was used to provide 6D object pose labels for all real-world images. Synthetic data were generated by carefully simulating real-world conditions and varying them in a controlled and realistic way. This resulted in over 500,000 synthetic images. The close correspondence between synthetic and real-world data and controlled variations will facilitate sim-to-real research. Our focus on industrial conditions and objects will facilitate research on computer vision tasks, such as 6D object pose estimation, which are relevant for many industrial applications, such as machine tending. The dataset and accompanying resources are available on the project website.

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Section: Usagementioning

confidence: 99%