{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/falling-things-a-synthetic-dataset-for-3d","title":"Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation","arxiv_id":"1804.06534","date":"2018-04-18","proceeding":null,"authors":["Jonathan Tremblay","Thang To","Stan Birchfield"],"abstract":"We present a new dataset, called Falling Things (FAT), for advancing the\nstate-of-the-art in object detection and 3D pose estimation in the context of\nrobotics. By synthetically combining object models and backgrounds of complex\ncomposition and high graphical quality, we are able to generate photorealistic\nimages with accurate 3D pose annotations for all objects in all images. Our\ndataset contains 60k annotated photos of 21 household objects taken from the\nYCB dataset. For each image, we provide the 3D poses, per-pixel class\nsegmentation, and 2D/3D bounding box coordinates for all objects. To facilitate\ntesting different input modalities, we provide mono and stereo RGB images,\nalong with registered dense depth images. We describe in detail the generation\nprocess and statistical analysis of the data.","url_abs":"http://arxiv.org/abs/1804.06534v2","url_pdf":"http://arxiv.org/pdf/1804.06534v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"3d-pose-estimation","task_name":"3D Pose Estimation"},{"task_slug":"all","task_name":"All"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[],"datasets_introduced":[{"slug":"fat","name":"FAT","full_name":"Falling Things"}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=1804.06534","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}