The TUD-L (TUD Light) dataset is part of the Benchmark for 6D Object Pose Estimation (BOP). Let me provide you with some details about this dataset:

1. Description:
2. The TUD-L dataset focuses on lighting conditions and includes three moving objects observed under eight different illumination scenarios.

3. It was specifically created as part of the BOP benchmark to evaluate 6D object pose estimation methods.

4. Object Instances:

5. The dataset contains three objects:

   • Dragon
   • Frog
   • Watering pot

6. Challenges:

7. TUD-L introduces challenging illumination variations to test the robustness of pose estimation algorithms.

8. Unlike other datasets, TUD-L has limited clutter and occlusion, making it suitable for evaluating lighting-specific performance.

9. Ground-Truth Annotations:

10. The dataset provides ground-truth 6D object poses, 2D bounding boxes, and 2D binary masks for the training and test RGB-D images.

11. These annotations enable researchers to evaluate their algorithms accurately.

12. Usage:

13. Researchers can use the TUD-L dataset to develop and evaluate 6D object pose estimation methods under varying lighting conditions.