T-LESS 无纹理对象检测和 6D 姿态估计数据集

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T-LESS 是被用于无纹理对象检测和 6D 姿态估计的 RGB-D 数据集,其被用于无纹理刚体对象 6D 姿态的估计。这套数据集拥有 30 个不同行业的对象,由于没有明显的纹理、可辨别的颜色和反射特性,因此物体在形状和尺寸上表现出对称性和相似性。

相较于其他数据集,T-LESS 一大特性在于对象与对象之间存在高度重合性,此外,该数据集还包括利用三个同步传感器捕获的训练图像,数据源包括结构光、RGB-D 传感器和高分辨率相机,每个传感器有大约 39k 的训练图像以及 10k 的测试图像。

T-LESS 数据集由捷克技术大学机器感知中心、捷克技术大学计算机科学研究所于 2017 年发布,其中项目主导人有 T. Hodaň、P. Haluza、Š. Obdržálek、J. Matas、M. Lourakis 和 X. Zabulis 六位。

该数据集初始版本来自于 DARWIN 项目,相关论文有《T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects》。

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文件名大小
README.md1 KB
README.txt1 KB
download.txt10 KB
t-less_v2_models_cad.zip9 MB
t-less_v2_models_cad_subdivided.zip38 MB
t-less_v2_models_reconst.zip17 MB
t-less_v2_test_canon_01.zip1 GB
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t-less_v2_test_kinect_01.zip278 MB
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t-less_v2_test_primesense_01.zip351 MB
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t-less_v2_test_primesense_12.zip426 MB
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t-less_v2_test_primesense_14.zip400 MB
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t-less_v2_test_primesense_16.zip418 MB
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t-less_v2_test_primesense_19.zip418 MB
t-less_v2_test_primesense_20.zip426 MB
t-less_v2_train_canon_01.zip118 MB
t-less_v2_train_canon_02.zip150 MB
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t-less_v2_train_kinect_01.zip70 MB
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t-less_v2_train_primesense_01.zip44 MB
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t-less_v2_train_primesense_10.zip69 MB
t-less_v2_train_primesense_11.zip57 MB
t-less_v2_train_primesense_12.zip69 MB
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t-less_v2_train_primesense_27.zip119 MB
t-less_v2_train_primesense_28.zip95 MB
t-less_v2_train_primesense_29.zip104 MB
t-less_v2_train_primesense_30.zip73 MB
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