Datasets › DREAM-dataset
DREAM-dataset (Deep Robot-to-camera Extrinsics for Articulated Manipulators)
The DREAM dataset is introduce by the paper "Camera-to-Robot Pose Estimation from a Single Image" (ICRA 2020). This dataset consists of synthetic images (both with and without domain randomlization) of three different robot manipulators (Franka Emika’s Panda, Kuka’s LBR iiwa 7 R800, and Rethink Robotics’ Baxter) , as well as real-world images of Franka Emika’s Panda taken from various RGBD cameras (XBox 360 Kinect (XK), RealSense (RS), and Azure Kinect (AK)). Each instance in the dataset contains an RGB image, keypoint 3D/2D coordinates , global camera-to-robot transformation and joint state configurations (from both revolute and prismatic joint) of the robot. Tasks like estimating robot pose (camera pose) from a single RGB image, camera-to-robot calibration can be conducted and evaluated in this dataset.
Benchmarks archive 2025-07-28
All 1 leaderboard whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Robot Pose Estimation | DREAM-dataset | Holistic-Robot-Pose (known-joint) AUC (avg. on 4 real DREAM datasets) 87.7 | Real-time Holistic Robot Pose Estimation with Unknown States | Oliverbansk/Hollistic-Robot-Pose-Estimation +1 | 5 | Compare |
Papers archive 2025-07-28
3 shown of 3 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 5. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| Real-time Holistic Robot Pose Estimation with Unknown States | 2 | 2 | 8 Feb 2024 | ran 4 of 7 samples (3 unverified; 7 pointer-only for licence) |
| Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer | 0 | 1 | 28 Feb 2023 | not harvested |
| Single-view robot pose and joint angle estimation via render & compare | 0 | 2 | 19 Apr 2021 | not harvested |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
NVIDIA Source Code License - Non-commercial
Modalities archive 2025-07-28
Languages archive 2025-07-28
Variants archive 2025-07-28
- DREAM-dataset
1 variant name, as the archive lists them.
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