InVar-100 (Industrial Objects in Varied Contexts)

The Industrial Objects in Varied Contexts (InVar) Dataset was internally produced by our team and contains 100 objects in 20800 total images (208 images per class). The objects consist of common automotive, machine and robotics lab parts. Each class contains 4 sub-categories (52 images each) with different attributes and visual complexities.

White background (D_wh): The object is against a clean white background and the object is clear, centred and in focus.

Stationary Setup (D_st): These images are also taken against a clean background using a stationary camera setup, with uncentered objects at a constant distance. The images have lower DPI resolution with occasional cropping.

Handheld (D_ha): These images are taken with the user holding the objects, with occasional occluding.

Cluttered background (D_cl): These images are taken with the object placed along with other objects from the lab in the background and no occlusion.