Datasets › TransCG
TransCG
TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240 viewpoints) of 130 scenes under real-world settings. The samples are captured by two different types of cameras (Realsense D435 & L515).
The following data is provided:
- The 3D model of the transparent object;
- The 6dpose of the transparent object in each viewpoint of each scene;
- The raw RGB-D image, and the ground-truth refined depth image;
- The mask of the transparent objects;
- The ground-truth surface normals of every sample.
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 | ||||
|---|---|---|---|---|---|---|
| Transparent Object Depth Estimation | TransCG | DFNet Delta < 1.25 99.71 | TransCG: A Large-Scale Real-World Dataset for... | galaxies99/transcg | 1 | Compare |
Papers archive 2025-07-28
1 shown of 1 paper 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 7. 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 | |||
|---|---|---|---|---|
| TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline | 1 | 1 | 17 Feb 2022 | not harvested |
Dataset loaders archive 2025-07-28
1 loader as listed in the archive; links are outbound and not re-checked here.
Tasks archive 2025-07-28
License archive 2025-07-28
Modalities archive 2025-07-28
Languages archive 2025-07-28
Variants archive 2025-07-28
- TransCG
1 variant name, as the archive lists them.
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