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This is a pose estimation dataset, consisting of symmetric 3D shapes where multiple orientations are visually indistinguishable. The challenge is to predict all equivalent orientations when only one orientation is paired with each image during training (as is the scenario for most pose estimation datasets). In contrast to most pose estimation datasets, the full set of equivalent orientations is available for evaluation.
The YCB-Video dataset is a large-scale video dataset for 6D object pose estimation. provides accurate 6D poses of 21 objects from the YCB dataset observed in 92 videos with 133,827 frames.
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Global Symmetry Ground-truth for AVA dataset.
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The NYU Symmetry database contains 176 single-symmetry and 63 multiple-symmetry images (.png files) with accompanying ground-truth annotations (.mat files). Also included are a .m file to visualize the annotations on top of the images, and a .txt file with instructions on how to interpret the .mat annotations.
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