Digital-Twin Tracking Dataset (DTTD) is a novel RGB-D dataset to enable further research of the problem and extend potential solutions towards longer ranges and mm localization accuracy. In total, 103 scenes of 10 common off-the-shelf objects with rich textures are recorded, with each frame annotated with a per-pixel semantic segmentation and ground-truth object poses provided by a commercial motion capturing system.

Source: Digital Twin Tracking Dataset (DTTD): A New RGB+Depth 3D Dataset for Longer-Range Object Tracking Applications


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