{"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/large-scale-6d-object-pose-estimation-dataset","title":"Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking","arxiv_id":"1912.12125","date":"2019-12-06","proceeding":null,"authors":["Kilian Kleeberger","Christian Landgraf","Marco F. Huber"],"abstract":"In this paper, we introduce a new public dataset for 6D object pose estimation and instance segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world scenes. For both, point clouds, depth images, and annotations comprising the 6D pose (position and orientation), a visibility score, and a segmentation mask for each object are provided. Along with the raw data, a method for precisely annotating real-world scenes is proposed. To the best of our knowledge, this is the first public dataset for 6D object pose estimation and instance segmentation for bin-picking containing sufficiently annotated data for learning-based approaches. Furthermore, it is one of the largest public datasets for object pose estimation in general. The dataset is publicly available at http://www.bin-picking.ai/en/dataset.html.","url_abs":"https://arxiv.org/abs/1912.12125v1","url_pdf":"https://arxiv.org/pdf/1912.12125v1.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":[{"paper_slug":"large-scale-6d-object-pose-estimation-dataset","repo_url":"https://github.com/xyjbaal/FPCC","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[{"task_slug":"6d-pose-estimation","task_name":"6D Pose Estimation using RGB"},{"task_slug":"instance-segmentation","task_name":"Instance Segmentation"},{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":null,"task_name":"Position"},{"task_slug":"segmentation","task_name":"Segmentation"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[],"datasets_introduced":[{"slug":"fraunhofer-ipa-bin-picking","name":"Fraunhofer IPA Bin-Picking","full_name":"Fraunhofer IPA Bin-Picking"}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1912.12125","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}