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Titel:

Synthetic training dataset for LineMod objects

Dokumenttyp:
Forschungsdaten
Veröffentlichungsdatum:
15.02.2023
Verantwortlich:
Cao, Hongpeng
Autorinnen / Autoren:
Cao*, Hongpeng ; Dirnberger*, Lukas ; Bernardini, Daniele; Piazza, Cristina; Caccamo, Marco
Institutionszugehörigkeit:
TUM
Herausgeber:
TUM
Identifikator:
doi:10.14459/2023mp1695465
Enddatum der Datenerzeugung:
12.01.2023
Fachgebiet:
DAT Datenverarbeitung, Informatik; FER Fertigungstechnik
zusätzliche Fachgebiete:
Robotics
Quellen der Daten:
Simulationen / simulations
Datentyp:
Bilder / images; mehrdimensionale Visualisierungen oder Modelle / models; Texte / texts
Methode der Datenerhebung:
The dataset is generated by rendering the 3D meshes of objects in the simulation Blender. The generated data will be further processed in python for data augmentation, in which the domain randomization techniques are applied to increase variaty. Along with the geneated anotations, the data will be used for training 6D pose estimation algorithms in Tensorflow.
Beschreibung:
The dataset includes the synthetic data generated from rendering the 3D meshes of LM objects in Blender for training 6D pose estimation algorithms. The whole dataset contains the synthetic data for 13 objects with 20,000 data samples for each object. Each data sample includes an RGB image in .png format and a depth image in .exr format. Each sample has the annotations of mask labels in .png format and the ground truth pose labels saved in .json files. Apart from the training data, the 3D meshes...     »
Links:

Additional information: https://doi.org/10.48550/arXiv.2208.14288

This dataset relates to the publication: https://doi.org/10.3389/frobt.2023.1176492
Schlagworte:
6D pose estimation; Synthetic dataset; Computer Vision
Technische Hinweise:
View and download (1,2 TB total, 1600313 Files)
The data server also offers downloads with FTP
The data server also offers downloads with rsync (password m1695465):
rsync rsync://m1695465@dataserv.ub.tum.de/m1695465/
Sprache:
en
Rechte:
by, http://creativecommons.org/licenses/by/4.0
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