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Dataset Card for Dropjects
Dropjects is a synthetic stereo RGB-D object dataset, created at the Chair of Cyber-Physical Systems in Production Engineering at the Technical University of Munich. It contains pose, bounding box, and segmentation masks for different sets of objects.
Dataset Details
Subsets
You can choose subsets with different sets of objects. Currently, there are the following subsets/object sets:
- omni (500k images): Contains ~6k objects of the OmniObject3D dataset
- ycbv (50k images): Contains the YCB Video objects
- tless (50k images): Contains the TLESS objects
- cps (50k images): Contains the Dropjects objects (TBA)
Then you can load the dataset like this, for example all lighting conditions for the stapler in the box, with clutter
from datasets import load_dataset
ds = load_dataset("LukasDb/dropjects", "omni", streaming=True, trust_remote_code=True, split='train')
for data in ds.with_format('tensorflow'):
rgb = data['rgb'] # tf.uint8 Tensor, (h,w,3)
Dataset Sources
- Repository: TBA
- Paper: TBA
Dataset Structure
TBA
Citation
BibTeX: TBA
Dataset Card Authors and Contact
Lukas Dirnberger (lukas.dirnberger@tum.de)
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