aaabab/IndustryShapes

IndustryShapes

**Project Page** | **Paper**

IndustryShapes is a new benchmark dataset tailored for 6D object pose estimation in industrial settings. Targeting the challenges of textureless objects, reflective surfaces, and complex assembly tools, this dataset provides high-quality RGB-D data with precise annotations to advance the state of the art in robotic manipulation.

Dataset Features

Unlike traditional datasets focused on household products, IndustryShapes introduces five new industry-relevant object types with challenging properties. The dataset features:

• —Realistic Settings: Objects captured in authentic industrial assembly environments.
• —Diverse Complexity: Scenes ranging from simple to challenging, including single and multiple objects, as well as multiple instances of the same object.
• —Unique Modalities: It is the first dataset to offer RGB-D static onboarding sequences to support model-free and sequence-based approaches.
• —Comprehensive Annotations: Includes high-quality annotated poses, bounding boxes, and segmentation masks.

Dataset Organization

The dataset is organized into two parts:

• —Classic Set: The Classic Set supports instance-level pose estimation with 21 scenes (13 train, 8 test). Includes images from real industrial scenes with varying complexity, Lab captured and Synthetically generated data.
• —Extended Set: Inlucdes three challenging office scenes with unconstrained lighting, distractors, occlusions and diverse viewpoints featuring all objects. It also includes 10 RGB-D static onboarding sequences (2 per object).

Tasks

• —6D Object Pose Estimation (Instance-level and Novel Object)
• —Object Detection
• —Image Segmentation
• —Robotic Manipulation