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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  • T-LESS/README.md 1.96 KB
  • T-LESS/README.txt 1.96 KB
  • T-LESS/data/download.txt 10.85 KB
  • T-LESS/data/t-less_v2_models_cad.zip 9.29 MB
  • T-LESS/data/t-less_v2_models_cad_subdivided.zip 38.85 MB
  • T-LESS/data/t-less_v2_models_reconst.zip 17.16 MB
  • T-LESS/data/t-less_v2_test_canon_01.zip 1.18 GB
  • T-LESS/data/t-less_v2_test_canon_02.zip 1.2 GB
  • T-LESS/data/t-less_v2_test_canon_03.zip 1.21 GB
  • T-LESS/data/t-less_v2_test_canon_04.zip 1.19 GB
  • T-LESS/data/t-less_v2_test_canon_05.zip 1.19 GB
  • T-LESS/data/t-less_v2_test_canon_06.zip 1.2 GB
  • T-LESS/data/t-less_v2_test_canon_07.zip 1.2 GB
  • T-LESS/data/t-less_v2_test_canon_08.zip 1.19 GB
  • T-LESS/data/t-less_v2_test_canon_09.zip 1.2 GB
  • T-LESS/data/t-less_v2_test_canon_10.zip 1.47 GB
  • T-LESS/data/t-less_v2_test_canon_11.zip 1.44 GB
  • T-LESS/data/t-less_v2_test_canon_12.zip 1.53 GB
  • T-LESS/data/t-less_v2_test_canon_13.zip 1.49 GB
  • T-LESS/data/t-less_v2_test_canon_14.zip 1.34 GB
  • T-LESS/data/t-less_v2_test_canon_15.zip 1.38 GB
  • T-LESS/data/t-less_v2_test_canon_16.zip 1.42 GB
  • T-LESS/data/t-less_v2_test_canon_17.zip 1.43 GB
  • T-LESS/data/t-less_v2_test_canon_18.zip 1.41 GB
  • T-LESS/data/t-less_v2_test_canon_19.zip 1.43 GB
  • T-LESS/data/t-less_v2_test_canon_20.zip 1.47 GB
  • T-LESS/data/t-less_v2_test_kinect_01.zip 278.88 MB
  • T-LESS/data/t-less_v2_test_kinect_02.zip 293.64 MB
  • T-LESS/data/t-less_v2_test_kinect_03.zip 292.82 MB
  • T-LESS/data/t-less_v2_test_kinect_04.zip 281.14 MB
  • T-LESS/data/t-less_v2_test_kinect_05.zip 288.97 MB
  • T-LESS/data/t-less_v2_test_kinect_06.zip 288.25 MB
  • T-LESS/data/t-less_v2_test_kinect_07.zip 294.96 MB
  • T-LESS/data/t-less_v2_test_kinect_08.zip 284.21 MB
  • T-LESS/data/t-less_v2_test_kinect_09.zip 293.42 MB
  • T-LESS/data/t-less_v2_test_kinect_10.zip 349.43 MB
  • T-LESS/data/t-less_v2_test_kinect_11.zip 357.87 MB
  • T-LESS/data/t-less_v2_test_kinect_12.zip 365.17 MB
  • T-LESS/data/t-less_v2_test_kinect_13.zip 352.4 MB
  • T-LESS/data/t-less_v2_test_kinect_14.zip 339.98 MB
  • T-LESS/data/t-less_v2_test_kinect_15.zip 342.97 MB
  • T-LESS/data/t-less_v2_test_kinect_16.zip 363.01 MB
  • T-LESS/data/t-less_v2_test_kinect_17.zip 378.67 MB
  • T-LESS/data/t-less_v2_test_kinect_18.zip 365.86 MB
  • T-LESS/data/t-less_v2_test_kinect_19.zip 354.4 MB
  • T-LESS/data/t-less_v2_test_kinect_20.zip 359.07 MB
  • T-LESS/data/t-less_v2_test_primesense_01.zip 351.69 MB
  • T-LESS/data/t-less_v2_test_primesense_02.zip 363.56 MB
  • T-LESS/data/t-less_v2_test_primesense_03.zip 368.58 MB
  • T-LESS/data/t-less_v2_test_primesense_04.zip 360.48 MB
  • T-LESS/data/t-less_v2_test_primesense_05.zip 359.93 MB
  • T-LESS/data/t-less_v2_test_primesense_06.zip 361.26 MB
  • T-LESS/data/t-less_v2_test_primesense_07.zip 366.84 MB
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  • T-LESS/data/t-less_v2_test_primesense_09.zip 361.58 MB
  • T-LESS/data/t-less_v2_test_primesense_10.zip 411.23 MB
  • T-LESS/data/t-less_v2_test_primesense_11.zip 417.86 MB
  • T-LESS/data/t-less_v2_test_primesense_12.zip 426.11 MB
  • T-LESS/data/t-less_v2_test_primesense_13.zip 409.33 MB
  • T-LESS/data/t-less_v2_test_primesense_14.zip 400.33 MB
  • T-LESS/data/t-less_v2_test_primesense_15.zip 407.25 MB
  • T-LESS/data/t-less_v2_test_primesense_16.zip 418.74 MB
  • T-LESS/data/t-less_v2_test_primesense_17.zip 430.82 MB
  • T-LESS/data/t-less_v2_test_primesense_18.zip 426.56 MB
  • T-LESS/data/t-less_v2_test_primesense_19.zip 418.76 MB
  • T-LESS/data/t-less_v2_test_primesense_20.zip 426.82 MB
  • T-LESS/data/t-less_v2_train_canon_01.zip 118.87 MB
  • T-LESS/data/t-less_v2_train_canon_02.zip 150.85 MB
  • T-LESS/data/t-less_v2_train_canon_03.zip 160.5 MB
  • T-LESS/data/t-less_v2_train_canon_04.zip 161.93 MB
  • T-LESS/data/t-less_v2_train_canon_05.zip 361.84 MB
  • T-LESS/data/t-less_v2_train_canon_06.zip 359.94 MB
  • T-LESS/data/t-less_v2_train_canon_07.zip 704.44 MB
  • T-LESS/data/t-less_v2_train_canon_08.zip 1004.94 MB
  • T-LESS/data/t-less_v2_train_canon_09.zip 561.73 MB
  • T-LESS/data/t-less_v2_train_canon_10.zip 277.24 MB
  • T-LESS/data/t-less_v2_train_canon_11.zip 210.21 MB
  • T-LESS/data/t-less_v2_train_canon_12.zip 277.7 MB
  • T-LESS/data/t-less_v2_train_canon_13.zip 140.18 MB
  • T-LESS/data/t-less_v2_train_canon_14.zip 170.02 MB
  • T-LESS/data/t-less_v2_train_canon_15.zip 175.84 MB
  • T-LESS/data/t-less_v2_train_canon_16.zip 211.11 MB
  • T-LESS/data/t-less_v2_train_canon_17.zip 511.14 MB
  • T-LESS/data/t-less_v2_train_canon_18.zip 420.11 MB
  • T-LESS/data/t-less_v2_train_canon_19.zip 128.81 MB
  • T-LESS/data/t-less_v2_train_canon_20.zip 144.95 MB
  • T-LESS/data/t-less_v2_train_canon_21.zip 256.15 MB
  • T-LESS/data/t-less_v2_train_canon_22.zip 253.04 MB
  • T-LESS/data/t-less_v2_train_canon_23.zip 383.15 MB
  • T-LESS/data/t-less_v2_train_canon_24.zip 189.99 MB
  • T-LESS/data/t-less_v2_train_canon_25.zip 341.49 MB
  • T-LESS/data/t-less_v2_train_canon_26.zip 344.13 MB
  • T-LESS/data/t-less_v2_train_canon_27.zip 610.85 MB
  • T-LESS/data/t-less_v2_train_canon_28.zip 444.29 MB
  • T-LESS/data/t-less_v2_train_canon_29.zip 501.47 MB
  • T-LESS/data/t-less_v2_train_canon_30.zip 311.45 MB
  • T-LESS/data/t-less_v2_train_kinect_01.zip 70.12 MB
  • T-LESS/data/t-less_v2_train_kinect_02.zip 73.66 MB
  • T-LESS/data/t-less_v2_train_kinect_03.zip 75.06 MB
  • T-LESS/data/t-less_v2_train_kinect_04.zip 73.66 MB
  • T-LESS/data/t-less_v2_train_kinect_05.zip 95.66 MB
  • T-LESS/data/t-less_v2_train_kinect_06.zip 96.07 MB
  • T-LESS/data/t-less_v2_train_kinect_07.zip 139.84 MB
  • T-LESS/data/t-less_v2_train_kinect_08.zip 166.54 MB
  • T-LESS/data/t-less_v2_train_kinect_09.zip 122.15 MB
  • T-LESS/data/t-less_v2_train_kinect_10.zip 87.39 MB
  • T-LESS/data/t-less_v2_train_kinect_11.zip 80.32 MB
  • T-LESS/data/t-less_v2_train_kinect_12.zip 87.33 MB
  • T-LESS/data/t-less_v2_train_kinect_13.zip 69.75 MB
  • T-LESS/data/t-less_v2_train_kinect_14.zip 73.63 MB
  • T-LESS/data/t-less_v2_train_kinect_15.zip 74.14 MB
  • T-LESS/data/t-less_v2_train_kinect_16.zip 76.75 MB
  • T-LESS/data/t-less_v2_train_kinect_17.zip 107.63 MB
  • T-LESS/data/t-less_v2_train_kinect_18.zip 102.4 MB
  • T-LESS/data/t-less_v2_train_kinect_19.zip 42.2 MB
  • T-LESS/data/t-less_v2_train_kinect_20.zip 43.92 MB
  • T-LESS/data/t-less_v2_train_kinect_21.zip 84.7 MB
  • T-LESS/data/t-less_v2_train_kinect_22.zip 84.03 MB
  • T-LESS/data/t-less_v2_train_kinect_23.zip 99.53 MB
  • T-LESS/data/t-less_v2_train_kinect_24.zip 76.12 MB
  • T-LESS/data/t-less_v2_train_kinect_25.zip 91.93 MB
  • T-LESS/data/t-less_v2_train_kinect_26.zip 91.59 MB
  • T-LESS/data/t-less_v2_train_kinect_27.zip 113.38 MB
  • T-LESS/data/t-less_v2_train_kinect_28.zip 101.36 MB
  • T-LESS/data/t-less_v2_train_kinect_29.zip 104.36 MB
  • T-LESS/data/t-less_v2_train_kinect_30.zip 85.66 MB
  • T-LESS/data/t-less_v2_train_primesense_01.zip 44.8 MB
  • T-LESS/data/t-less_v2_train_primesense_02.zip 49.38 MB
  • T-LESS/data/t-less_v2_train_primesense_03.zip 50.98 MB
  • T-LESS/data/t-less_v2_train_primesense_04.zip 52.08 MB
  • T-LESS/data/t-less_v2_train_primesense_05.zip 82.55 MB
  • T-LESS/data/t-less_v2_train_primesense_06.zip 81.18 MB
  • T-LESS/data/t-less_v2_train_primesense_07.zip 137.59 MB
  • T-LESS/data/t-less_v2_train_primesense_08.zip 188.08 MB
  • T-LESS/data/t-less_v2_train_primesense_09.zip 111.84 MB
  • T-LESS/data/t-less_v2_train_primesense_10.zip 69.24 MB
  • T-LESS/data/t-less_v2_train_primesense_11.zip 57.81 MB
  • T-LESS/data/t-less_v2_train_primesense_12.zip 69.32 MB
  • T-LESS/data/t-less_v2_train_primesense_13.zip 48.33 MB
  • T-LESS/data/t-less_v2_train_primesense_14.zip 50.8 MB
  • T-LESS/data/t-less_v2_train_primesense_15.zip 54.14 MB
  • T-LESS/data/t-less_v2_train_primesense_16.zip 57.76 MB
  • T-LESS/data/t-less_v2_train_primesense_17.zip 102.1 MB
  • T-LESS/data/t-less_v2_train_primesense_18.zip 95.46 MB
  • T-LESS/data/t-less_v2_train_primesense_19.zip 33.33 MB
  • T-LESS/data/t-less_v2_train_primesense_20.zip 35.73 MB
  • T-LESS/data/t-less_v2_train_primesense_21.zip 66.87 MB
  • T-LESS/data/t-less_v2_train_primesense_22.zip 68.4 MB
  • T-LESS/data/t-less_v2_train_primesense_23.zip 88.11 MB
  • T-LESS/data/t-less_v2_train_primesense_24.zip 57.31 MB
  • T-LESS/data/t-less_v2_train_primesense_25.zip 81.03 MB
  • T-LESS/data/t-less_v2_train_primesense_26.zip 79.75 MB
  • T-LESS/data/t-less_v2_train_primesense_27.zip 119.47 MB
  • T-LESS/data/t-less_v2_train_primesense_28.zip 95.64 MB
  • T-LESS/data/t-less_v2_train_primesense_29.zip 104.26 MB
  • T-LESS/data/t-less_v2_train_primesense_30.zip 73.97 MB
  • T-LESS/samples_0.jpg 1.74 KB
  • T-LESS/samples_1.jpg 10.21 KB