List of Datasets

Humanoid

KITchen

6D object pose estimation

Approximately 205K real-world RGBD images of 111 kitchen objects, recorded from a humanoid robot in two kitchens, with bounding boxes, object masks and camera-relative 6D poses.

Metadata: Complete 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
Humanoid
Environment
Indoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

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

Cameras

2 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.
Derived
Reference notes
Camera-relative object pose labels generated using MegaPose, with contour/mesh overlay inspection and iterative correction. This PDF uses YOLOv8 detection and Segment Anything masks; no independent metric pose accuracy is specified.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Not reported

Cameras

rgbd

Model
Not reported
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
Not reported
Rate
5 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Robot egocentric RGBD recording limited to 5 fps to avoid repetitive frames. The text gives heights 150/177/185 cm, while Figure 4 gives 145/177/185 cm.

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
Not reported
Class count
111
Semantic segmentation Not reported
Instance segmentation Available
Object detection Available
Optical flow Not reported
Depth ground truth Not reported

Citation

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

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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