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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README.md | 1 KB |
README.txt | 1 KB |
download.txt | 10 KB |
t-less_v2_models_cad.zip | 9 MB |
t-less_v2_models_cad_subdivided.zip | 38 MB |
t-less_v2_models_reconst.zip | 17 MB |
t-less_v2_test_canon_01.zip | 1 GB |
t-less_v2_test_canon_02.zip | 1 GB |
t-less_v2_test_canon_03.zip | 1 GB |
t-less_v2_test_canon_04.zip | 1 GB |
t-less_v2_test_canon_05.zip | 1 GB |
t-less_v2_test_canon_06.zip | 1 GB |
t-less_v2_test_canon_07.zip | 1 GB |
t-less_v2_test_canon_08.zip | 1 GB |
t-less_v2_test_canon_09.zip | 1 GB |
t-less_v2_test_canon_10.zip | 1 GB |
t-less_v2_test_canon_11.zip | 1 GB |
t-less_v2_test_canon_12.zip | 1 GB |
t-less_v2_test_canon_13.zip | 1 GB |
t-less_v2_test_canon_14.zip | 1 GB |
t-less_v2_test_canon_15.zip | 1 GB |
t-less_v2_test_canon_16.zip | 1 GB |
t-less_v2_test_canon_17.zip | 1 GB |
t-less_v2_test_canon_18.zip | 1 GB |
t-less_v2_test_canon_19.zip | 1 GB |
t-less_v2_test_canon_20.zip | 1 GB |
t-less_v2_test_kinect_01.zip | 278 MB |
t-less_v2_test_kinect_02.zip | 293 MB |
t-less_v2_test_kinect_03.zip | 292 MB |
t-less_v2_test_kinect_04.zip | 281 MB |
t-less_v2_test_kinect_05.zip | 288 MB |
t-less_v2_test_kinect_06.zip | 288 MB |
t-less_v2_test_kinect_07.zip | 294 MB |
t-less_v2_test_kinect_08.zip | 284 MB |
t-less_v2_test_kinect_09.zip | 293 MB |
t-less_v2_test_kinect_10.zip | 349 MB |
t-less_v2_test_kinect_11.zip | 357 MB |
t-less_v2_test_kinect_12.zip | 365 MB |
t-less_v2_test_kinect_13.zip | 352 MB |
t-less_v2_test_kinect_14.zip | 339 MB |
t-less_v2_test_kinect_15.zip | 342 MB |
t-less_v2_test_kinect_16.zip | 363 MB |
t-less_v2_test_kinect_17.zip | 378 MB |
t-less_v2_test_kinect_18.zip | 365 MB |
t-less_v2_test_kinect_19.zip | 354 MB |
t-less_v2_test_kinect_20.zip | 359 MB |
t-less_v2_test_primesense_01.zip | 351 MB |
t-less_v2_test_primesense_02.zip | 363 MB |
t-less_v2_test_primesense_03.zip | 368 MB |
t-less_v2_test_primesense_04.zip | 360 MB |
t-less_v2_test_primesense_05.zip | 359 MB |
t-less_v2_test_primesense_06.zip | 361 MB |
t-less_v2_test_primesense_07.zip | 366 MB |
t-less_v2_test_primesense_08.zip | 358 MB |
t-less_v2_test_primesense_09.zip | 361 MB |
t-less_v2_test_primesense_10.zip | 411 MB |
t-less_v2_test_primesense_11.zip | 417 MB |
t-less_v2_test_primesense_12.zip | 426 MB |
t-less_v2_test_primesense_13.zip | 409 MB |
t-less_v2_test_primesense_14.zip | 400 MB |
t-less_v2_test_primesense_15.zip | 407 MB |
t-less_v2_test_primesense_16.zip | 418 MB |
t-less_v2_test_primesense_17.zip | 430 MB |
t-less_v2_test_primesense_18.zip | 426 MB |
t-less_v2_test_primesense_19.zip | 418 MB |
t-less_v2_test_primesense_20.zip | 426 MB |
t-less_v2_train_canon_01.zip | 118 MB |
t-less_v2_train_canon_02.zip | 150 MB |
t-less_v2_train_canon_03.zip | 160 MB |
t-less_v2_train_canon_04.zip | 161 MB |
t-less_v2_train_canon_05.zip | 361 MB |
t-less_v2_train_canon_06.zip | 359 MB |
t-less_v2_train_canon_07.zip | 704 MB |
t-less_v2_train_canon_08.zip | 1004 MB |
t-less_v2_train_canon_09.zip | 561 MB |
t-less_v2_train_canon_10.zip | 277 MB |
t-less_v2_train_canon_11.zip | 210 MB |
t-less_v2_train_canon_12.zip | 277 MB |
t-less_v2_train_canon_13.zip | 140 MB |
t-less_v2_train_canon_14.zip | 170 MB |
t-less_v2_train_canon_15.zip | 175 MB |
t-less_v2_train_canon_16.zip | 211 MB |
t-less_v2_train_canon_17.zip | 511 MB |
t-less_v2_train_canon_18.zip | 420 MB |
t-less_v2_train_canon_19.zip | 128 MB |
t-less_v2_train_canon_20.zip | 144 MB |
t-less_v2_train_canon_21.zip | 256 MB |
t-less_v2_train_canon_22.zip | 253 MB |
t-less_v2_train_canon_23.zip | 383 MB |
t-less_v2_train_canon_24.zip | 189 MB |
t-less_v2_train_canon_25.zip | 341 MB |
t-less_v2_train_canon_26.zip | 344 MB |
t-less_v2_train_canon_27.zip | 610 MB |
t-less_v2_train_canon_28.zip | 444 MB |
t-less_v2_train_canon_29.zip | 501 MB |
t-less_v2_train_canon_30.zip | 311 MB |
t-less_v2_train_kinect_01.zip | 70 MB |
t-less_v2_train_kinect_02.zip | 73 MB |
t-less_v2_train_kinect_03.zip | 75 MB |
t-less_v2_train_kinect_04.zip | 73 MB |
t-less_v2_train_kinect_05.zip | 95 MB |
t-less_v2_train_kinect_06.zip | 96 MB |
t-less_v2_train_kinect_07.zip | 139 MB |
t-less_v2_train_kinect_08.zip | 166 MB |
t-less_v2_train_kinect_09.zip | 122 MB |
t-less_v2_train_kinect_10.zip | 87 MB |
t-less_v2_train_kinect_11.zip | 80 MB |
t-less_v2_train_kinect_12.zip | 87 MB |
t-less_v2_train_kinect_13.zip | 69 MB |
t-less_v2_train_kinect_14.zip | 73 MB |
t-less_v2_train_kinect_15.zip | 74 MB |
t-less_v2_train_kinect_16.zip | 76 MB |
t-less_v2_train_kinect_17.zip | 107 MB |
t-less_v2_train_kinect_18.zip | 102 MB |
t-less_v2_train_kinect_19.zip | 42 MB |
t-less_v2_train_kinect_20.zip | 43 MB |
t-less_v2_train_kinect_21.zip | 84 MB |
t-less_v2_train_kinect_22.zip | 84 MB |
t-less_v2_train_kinect_23.zip | 99 MB |
t-less_v2_train_kinect_24.zip | 76 MB |
t-less_v2_train_kinect_25.zip | 91 MB |
t-less_v2_train_kinect_26.zip | 91 MB |
t-less_v2_train_kinect_27.zip | 113 MB |
t-less_v2_train_kinect_28.zip | 101 MB |
t-less_v2_train_kinect_29.zip | 104 MB |
t-less_v2_train_kinect_30.zip | 85 MB |
t-less_v2_train_primesense_01.zip | 44 MB |
t-less_v2_train_primesense_02.zip | 49 MB |
t-less_v2_train_primesense_03.zip | 50 MB |
t-less_v2_train_primesense_04.zip | 52 MB |
t-less_v2_train_primesense_05.zip | 82 MB |
t-less_v2_train_primesense_06.zip | 81 MB |
t-less_v2_train_primesense_07.zip | 137 MB |
t-less_v2_train_primesense_08.zip | 188 MB |
t-less_v2_train_primesense_09.zip | 111 MB |
t-less_v2_train_primesense_10.zip | 69 MB |
t-less_v2_train_primesense_11.zip | 57 MB |
t-less_v2_train_primesense_12.zip | 69 MB |
t-less_v2_train_primesense_13.zip | 48 MB |
t-less_v2_train_primesense_14.zip | 50 MB |
t-less_v2_train_primesense_15.zip | 54 MB |
t-less_v2_train_primesense_16.zip | 57 MB |
t-less_v2_train_primesense_17.zip | 102 MB |
t-less_v2_train_primesense_18.zip | 95 MB |
t-less_v2_train_primesense_19.zip | 33 MB |
t-less_v2_train_primesense_20.zip | 35 MB |
t-less_v2_train_primesense_21.zip | 66 MB |
t-less_v2_train_primesense_22.zip | 68 MB |
t-less_v2_train_primesense_23.zip | 88 MB |
t-less_v2_train_primesense_24.zip | 57 MB |
t-less_v2_train_primesense_25.zip | 81 MB |
t-less_v2_train_primesense_26.zip | 79 MB |
t-less_v2_train_primesense_27.zip | 119 MB |
t-less_v2_train_primesense_28.zip | 95 MB |
t-less_v2_train_primesense_29.zip | 104 MB |
t-less_v2_train_primesense_30.zip | 73 MB |
samples_0.jpg | 1 KB |
samples_1.jpg | 10 KB |