YCB-Video Object Pose Dataset

The YCB-Video dataset is a large-scale video dataset for 6D object pose estimation. This dataset was contributed in the PoseCNN paper to verify issues such as symmetry and severe occlusions in pose estimation.

This dataset provides accurate 6D poses of 21 objects from the YCB dataset, which appear in 92 videos and the entire dataset contains 133,827 frames.