List of Datasets

Platform not reported

CEPB dataset

Object detection and pose estimation for bin picking

Synthetic cluttered bin scenes with RGB, depth, normals, segmentation and object poses for forty objects.

Metadata: Partial Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Not reported
Environment
Not reported
Data origin
Simulation
Sensor count
1
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

1 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF Other Not reported Not reported Not reported Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Unknown
Reference notes
Synthetic object poses supplied as centroid translation and quaternion; world/camera coordinate wording requires checking the actual YAML convention before use. No measured platform trajectory or external reference apparatus is asserted.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Intrinsic camera parameters accompany RGB and depth images.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Some meshes or shapes are simplified to make physical simulation tractable.

Liquid appearance uses a damped pendulum approximation and shader.

Cameras

virtual_views

Model
Not reported
Setup
Multi Camera
Count
1
Effective cameras
1
Modality
Rgbd
Resolution
2048 x 1536
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Three virtual viewpoints; central RGB-D view at 1.25 m, side views offset by 3 cm and rotated by plus/minus 15 degrees. These are rendered static scenes, not three physical devices or a timed stream.

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
YAML
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Available
Optical flow Not reported
Depth ground truth Available

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
tripicchio2024cepb

BibTeX

Not reported

Dataset corrections

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