MOTFront provides photo-realistic RGB-D images with their corresponding instance segmentation masks, class labels, 2D & 3D bounding boxes, 3D geometry, 3D poses and camera parameters.
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…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
…Despite its popularity, the dataset itself does not contain ground truth for semantic segmentation. However, various researchers have manually annotated parts of the dataset to fit their necessities.
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