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

5 Toyota Motor Europe 6 3dwe.ai https://sites.google.com/view/housecat6d Figure 1. HouseCat6D is a multi-modal category level 6D object pose and grasping dataset with highly diverse household object categories of different photometric complexity and a high number of varying scenes covering large viewpoint distributions. It comprises room-scale high-quality camera trajectories and object poses without markers in realistic scenarios including occlusions as well as dense grasping pose annotation. Data includes synchronized RGB, depth from active stereo, and polarimetric RGB+P images in scenes comprising objects without texture, strong reflections, or translucency.