The Robot Tracking Benchmark (RTB) is a synthetic dataset that facilitates the quantitative evaluation of 3D tracking algorithms for multi-body objects. It was created using the procedural rendering pipeline BlenderProc. The dataset contains photo-realistic sequences with HDRi lighting and physically-based materials. Perfect ground truth annotations for camera and robot trajectories are provided in the BOP format. Many physical effects, such as motion blur, rolling shutter, and camera shaking, are accurately modeled to reflect real-world conditions. For each frame, four depth qualities exist to simulate sensors with different characteristics. While the first quality provides perfect ground truth, the second considers measurements with the distance-dependent noise characteristics of the Azure Kinect time-of-flight sensor. Finally, for the third and fourth quality, two stereo RGB images with and without a pattern from a simulated dot projector were rendered. Depth images were then recons
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