HouseCat6D - A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios

Estimating 6D object poses is a major challenge in 3D computer vision. Building on successful instance-level approaches research is shifting towards category-level pose estimation for practical applications. Current category-level datasets however fall short in annotation quality and pose variety. Addressing this we introduce HouseCat6D a new category-level 6D pose dataset. It features 1) multi-modality with Polarimetric RGB and Depth (RGBD+P) 2) encompasses 194 diverse objects across 10 household categories including two photometrically challenging ones and 3) provides high-quality pose annotations with an error range of only 1.35 mm to 1.74 mm. The dataset also includes 4) 41 large-scale scenes with comprehensive viewpoint and occlusion coverage 5) a checkerboard-free environment and 6. dense 6D parallel-jaw robotic grasp annotations. Additionally we present benchmark results for leading category-level pose estimation networks.

PDF Abstract
No code implementations yet. Submit your code now

Results from the Paper


  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.

Methods


No methods listed for this paper. Add relevant methods here