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6D Pose Estimation datasets

archive 2025-07-28

23 datasets carry the task tag "6D Pose Estimation" (the task itself: 6D Pose Estimation), ordered by the archive's paper count. Page 1 of 1: 23 shown of 23. Facet routes are this site's own (the archive records the tag string, not a page).

The archive holds 12,214 dataset rows; 12,172 are listed. 6 are withheld from every listing and count here as vandalised before snapshot (6 with contact-centre spam in the title, 0 with a spam description on a row that has no homepage, no paper and no papers counted; none with more than 1 paper, 0 with a benchmark), listed in withheld.json; 1 listed row carries a vandalised description, withheld on its page. This gate never withholds a row with a homepage or a paper that resolves, and a clean description; the content rules below withhold a row whose name is spam whatever else it carries. The gate is a phrase list: these are the rows it caught, not a claim that the rest is clean. Before that gate, the site's content rules withhold 36 more rows (invite-code, gambling, travel-booking, contact-centre and similar spam in the name or on a row with nothing real behind it); they have no page and are listed in withheld.json.

Filter 51 task tags shown of 3,717, by dataset count; the full filter by modality, task and language is on /datasets

All 12,172 Question Answering 413Semantic Segmentation 347Object Detection 332Image Classification 283Classification 222Text Classification 167Language Modelling 166Text Generation 162Visual Question Answering (VQA) 144Named Entity Recognition (NER) 130Pose Estimation 124Anomaly Detection 119Action Recognition 115Instance Segmentation 111Sentiment Analysis 104Text Summarization 98Domain Adaptation 96Speech Recognition 96Reading Comprehension 95Information Retrieval 932D Object Detection 92Image Retrieval 87Machine Translation 82Relation Extraction 822D Semantic Segmentation 81Natural Language Inference 81Image Captioning 79Image Generation 79Depth Estimation 77Node Classification 75Natural Language Understanding 72Autonomous Driving 70Code Generation 70Object Tracking 693D Object Detection 67Face Recognition 67Link Prediction 67Person Re-Identification 65Data Augmentation 63Multi-Task Learning 593D Reconstruction 58Common Sense Reasoning 56Recommendation Systems 56Video Understanding 56Optical Character Recognition (OCR) 55Graph Classification 54Abstractive Text Summarization 52Emotion Recognition 52Medical Image Segmentation 52Word Embeddings 526D Pose Estimation 23

6D Pose Estimation datasets 1–23 of 23

YCB-Video
The YCB-Video dataset is a large-scale video dataset for 6D object pose estimation.
ImagesVideosRGB-DPose Estimation6D Pose Estimation6D Pose Estimation using RGBD6D Pose Estimation using RGBOccluded 3D Object Symmetry DetectionSymmetry Detection
164 papers · 5 benchmarks
REAL275 (NOCS-REAL275)
REAL275 is a benchmark for category-level pose estimation.
RGB-D6D Pose Estimation6D Pose Estimation using RGBD
67 papers · 1 benchmark
LM (LINEMOD)
The LM (Linemod) dataset is a valuable resource introduced by Stefan Hinterstoisser and colleagues in their research on model-based training, detection, and pose estimation of texture-less 3D objects in heavily cluttered scenes¹.
Domain Adaptation6D Pose Estimation6D Pose Estimation using RGBD6D Pose Estimation using RGB
34 papers · 5 benchmarks
HomebrewedDB
HomebrewedDB is a dataset for 6D pose estimation mainly targeting training from 3D models (both textured and textureless), scalability, occlusions, and changes in light conditions and object appearance.
3D6D Pose Estimation
26 papers · 0 benchmarks
ApolloCar3D
ApolloCar3DT is a dataset that contains 5,277 driving images and over 60K car instances, where each car is fitted with an industry-grade 3D CAD model with absolute model size and semantically labelled keypoints.
ImagesPose EstimationAutonomous Vehicles3D ReconstructionAutonomous DrivingKeypoint Detection6D Pose Estimation+8 tasks
17 papers · 14 benchmarks
DTTD-Mobile
Are current 3D object tracking methods truely robust enough for low-fidelity depth sensors like the iPhone LiDAR?
ImagesVideos3DObject DetectionSemantic Segmentation2D Semantic Segmentation3D Object DetectionDepth EstimationMulti-Object Tracking+13 tasks
8 papers · 2 benchmarks
YCBInEOAT Dataset
A new dataset with significant occlusions related to object manipulation.
ImagesVideos3DPoint cloudRGB-D6DTrackingRGB VideoPose EstimationPose Tracking6D Pose Estimation
6 papers · 0 benchmarks
NERDS 360 (NeRF for Reconstruction, Decomposition and Scene Synthesis of 360° outdoor scenes)
We present a large-scale dataset for 3D urban scene understanding.
Images3DRGB-D6DSemantic SegmentationInstance SegmentationDepth EstimationNovel View Synthesis6D Pose EstimationGeneralizable Novel View Synthesis
5 papers · 0 benchmarks
CORSMAL
CORSMAL is a dataset for estimating the position and orientation in 3D (or 6D pose) of an object from a single view.
ImagesPose Estimation6D Pose Estimation
3 papers · 0 benchmarks
Drunkard's Dataset
Estimating camera motion in deformable scenes poses a complex and open research challenge.
Videos3DMedicalRGB-DPose Estimation3D ReconstructionVisual TrackingPose TrackingSingle-View 3D ReconstructionVisual Odometry+9 tasks
2 papers · 1 benchmark
OPT (Object Pose Tracking)
Accurately tracking the six degree-of-freedom pose of an object in real scenes is an important task in computer vision and augmented reality with numerous applications.
6D Pose Estimation
2 papers · 1 benchmark
SLAM2REF (ConSLAM BIM and GT Poses)
This dataset comprehends the 3D building information model (in IFC and Revit formats), manually elaborated based on the terrestrial laser scanner of the sequence 2 of ConSLAM, and the refined ground truth (GT) poses (in TUM format) of…
3DCad6DTrackingPose EstimationPose TrackingCamera Localization2D Pose EstimationVisual Odometry6D Pose Estimation+12 tasks
2 papers · 0 benchmarks
UW Indoor Scenes (UW-IS) Occluded dataset
UW Indoor Scenes (UW-IS) Occluded dataset is curated using commodity hardware (Intel RealSense D435) to reflect real world robotics scenarios.
ImagesInstance SegmentationObject Recognition6D Pose Estimation6D Pose Estimation using RGBD6D Pose Estimation using RGB
2 papers · 0 benchmarks
VRMocap: VR Mocap Dataset for Pose Reconstruction
Data used for the paper SparsePoser: Real-time Full-body Motion Reconstruction from Sparse Data It contains over 1GB of high-quality motion capture data recorded with an Xsens Awinda system while using a variety of VR applications in Meta…
TrackingPose EstimationPose TrackingMotion Synthesis6D Pose EstimationPose Prediction
2 papers · 0 benchmarks
3D-BSLS-6D (3D scans of Bins by Structured-Light Scanner for 6D pose estimation)
Dataset consist of both real captures from Photoneo PhoXi structured light scanner devices annotated by hand and synthetic samples produced by custom generator.
3DPoint cloud6D Pose Estimation
1 paper · 1 benchmark
ConSLAM (Construction Dataset for SLAM)
ConSLAM is a real-world dataset collected periodically on a construction site to measure the accuracy of mobile scanners' SLAM algorithms.
Videos3DPoint cloudTrackingRGB VideoLiDARPose EstimationDepth EstimationPose TrackingCamera Localization2D Pose EstimationVisual Odometry+12 tasks
1 paper · 0 benchmarks
GraspClutter6D
GraspClutter6D is a large-scale real-world dataset for robust object perception and robotic grasping in cluttered environments.
Images3d meshesRGB-D6DInstance Segmentation6D Pose EstimationRobotic Grasping
1 paper · 0 benchmarks
INSANE Cross-Domain UAV Data Set (Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators)
This data set contains over 600GB of multimodal data from a Mars analog mission, including accurate 6DoF outdoor ground truth, indoor-outdoor transitions with continuous cross-domain ground truth, and indoor data with Optitrack…
ImagesEnvironmentTrackingStereo6D Pose Estimation
1 paper · 0 benchmarks
KITTI-6DoF (KITTI-Six Degrees Of Freedom)
KITTI-6DoF is a dataset that contains annotations for the 6DoF estimation task for 5 object categories on 7,481 frames.
Images3d meshes6D6D Pose Estimation
1 paper · 0 benchmarks
SMOT (Single sequence-Multi Objects Training)
The SMOT dataset, Single sequence-Multi Objects Training, is collected to represent a practical scenario of collecting training images of new objects in the real world, i.e.
ImagesPose Estimation6D Pose Estimation
1 paper · 0 benchmarks
Trajectory calibration experiments
Data and experiments for motion-based extrinsic calibration using [trajectorycalibration].
6D6D Pose Estimation
1 paper · 0 benchmarks
YCB-Ev 1.1
The YCB-Ev dataset contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities.
RGB-D6DTrackingRGB Video6D Pose Estimation6D Pose Estimation using RGBD
1 paper · 0 benchmarks
HouseCat6D (A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios)
Estimating 6D object poses is a major challenge in 3D computer vision.
RGB-D6D Pose EstimationRobotic Grasping
0 papers · 0 benchmarks

Paper counts and descriptions are the archive's, frozen 2025-07-28; no citation counts, no stars, no trending. Sorting by "most cited" or "newest" was a live-site feature the archive does not carry.