{"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/pace-pose-annotations-in-cluttered","title":"PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environments","arxiv_id":"2312.15130","date":"2023-12-23","proceeding":null,"authors":["Yang You","Kai Xiong","Zhening Yang","Zhengxiang Huang","Junwei Zhou","Ruoxi Shi","Zhou Fang","Adam W. Harley","Leonidas Guibas","Cewu Lu"],"abstract":"We introduce PACE (Pose Annotations in Cluttered Environments), a large-scale benchmark designed to advance the development and evaluation of pose estimation methods in cluttered scenarios. PACE provides a large-scale real-world benchmark for both instance-level and category-level settings. The benchmark consists of 55K frames with 258K annotations across 300 videos, covering 238 objects from 43 categories and featuring a mix of rigid and articulated items in cluttered scenes. To annotate the real-world data efficiently, we develop an innovative annotation system with a calibrated 3-camera setup. Additionally, we offer PACE-Sim, which contains 100K photo-realistic simulated frames with 2.4M annotations across 931 objects. We test state-of-the-art algorithms in PACE along two tracks: pose estimation, and object pose tracking, revealing the benchmark's challenges and research opportunities. Our benchmark code and data is available on https://github.com/qq456cvb/PACE.","url_abs":"https://arxiv.org/abs/2312.15130v3","url_pdf":"https://arxiv.org/pdf/2312.15130v3.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":"pace-pose-annotations-in-cluttered","repo_url":"https://github.com/qq456cvb/pace","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"pose-tracking","task_name":"Pose Tracking"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2312.15130","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}