{"url":"/dataset/corsmal","name":"CORSMAL","full_name":null,"description_markdown":"**CORSMAL** is a dataset for estimating the position and orientation in 3D (or 6D pose) of an object from a single view. The dataset consists of 138,240 images of rendered hands and forearms holding 48 synthetic objects, split into 3 grasp categories over 30 real backgrounds.\r\n\r\nSource: [A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers](https://arxiv.org/pdf/2211.10470v1.pdf)\r\n\r\nImage Source: [https://arxiv.org/pdf/2211.10470v1.pdf](https://arxiv.org/pdf/2211.10470v1.pdf)","description_withheld":null,"homepage":"https://corsmal.eecs.qmul.ac.uk/pose.html","introduced_date":"2022-11-18","introduced_date_note":null,"introduced_by":{"paper":"/paper/a-mixed-reality-dataset-for-category-level-6d","title":"A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers","first_author":"Xavier Weber","url":null},"license":null,"modalities":[{"name":"Images","url":"/datasets/modality/images"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"6D Pose Estimation","url":"/task/6d-pose-estimation-1","datasets_with_task":"/datasets/task/6d-pose-estimation-1"}],"languages":[],"variants":["CORSMAL"],"data_loaders":[],"num_papers_in_archive":3,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}