Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking

In this paper, we introduce a new public dataset for 6D object pose estimation and instance segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world scenes. For both, point clouds, depth images, and annotations comprising the 6D pose (position and orientation), a visibility score, and a segmentation mask for each object are provided. Along with the raw data, a method for precisely annotating real-world scenes is proposed. To the best of our knowledge, this is the first public dataset for 6D object pose estimation and instance segmentation for bin-picking containing sufficiently annotated data for learning based approaches. Furthermore, it is one of the largest public datasets for object pose estimation in general. The dataset is publicly available at http://www.bin-picking.ai/en/dataset.html.