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http://hdl.handle.net/1942/42360
Title: | Sim-to-Real Dataset of Industrial Metal Objects | Authors: | De Roovere, Peter MOONEN, Steven MICHIELS, Nick wyffels, Francis |
Issue Date: | 2024 | Publisher: | MDPI | Source: | Machines, 12 (2) (Art N° 99) | Abstract: | We present a diverse dataset of industrial metal objects with unique characteristics such as symmetry, texturelessness, and high reflectiveness. These features introduce challenging conditions that are not captured in existing datasets. Our dataset comprises both real-world and synthetic multi-view RGB images with 6D object pose labels. Real-world data were obtained by recording multi-view images of scenes with varying object shapes, materials, carriers, compositions, and lighting conditions. This resulted in over 30,000 real-world images. We introduce a new public tool that enables the quick annotation of 6D object pose labels in multi-view images. This tool was used to provide 6D object pose labels for all real-world images. Synthetic data were generated by carefully simulating real-world conditions and varying them in a controlled and realistic way. This resulted in over 500,000 synthetic images. The close correspondence between synthetic and real-world data and controlled variations will facilitate sim-to-real research. Our focus on industrial conditions and objects will facilitate research on computer vision tasks, such as 6D object pose estimation, which are relevant for many industrial applications, such as machine tending. The dataset and accompanying resources are available on the project website. | Notes: | De Roovere, P (corresponding author), Univ Ghent, Imec, IDLab, AIRO, B-9052 Ghent, Belgium. peter.deroovere@ugent.be; steven.moonen@uhasselt.be; nick.michiels@uhasselt.be; francis.wyffels@ugent.be |
Keywords: | dataset;6D object pose estimation;industrial robotics;sim-to-real;reflective materials | Document URI: | http://hdl.handle.net/1942/42360 | e-ISSN: | 2075-1702 | DOI: | 10.3390/machines12020099 | ISI #: | 001172053200001 | Datasets of the publication: | https://pderoovere.github.io/dimo/ | Rights: | 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). | Category: | A1 | Type: | Journal Contribution |
Appears in Collections: | Research publications |
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machines-12-00099.pdf | Published version | 27.58 MB | Adobe PDF | View/Open |
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