CORSMAL
Introduced by Weber et al. in A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers
CORSMAL is a dataset for estimating the position and orientation in 3D (or 6D pose) of an object from a single view. The dataset consists of 138,240 images of rendered hands and forearms holding 48 synthetic objects, split into 3 grasp categories over 30 real backgrounds.
Source: A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containersPapers
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