mlsanityData to 7 Oct 2026

Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation

arXiv 1804.06534 ↗First posted 18 Apr 2018cs.CVcited by 92

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Abstract (arXiv)

We present a new dataset, called Falling Things (FAT), for advancing the state-of-the-art in object detection and 3D pose estimation in the context of robotics. By synthetically combining object models and backgrounds of complex composition and high graphical quality, we are able to generate photorealistic images with accurate 3D pose annotations for all objects in all images. Our dataset contains 60k annotated photos of 21 household objects taken from the YCB dataset. For each image, we provide the 3D poses, per-pixel class segmentation, and 2D/3D bounding box coordinates for all objects. To facilitate testing different input modalities, we provide mono and stereo RGB images, along with registered dense depth images. We describe in detail the generation process and statistical analysis of the data.

Key facts. Cited by 92 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Apr 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 10; 2022: 15; 2023: 16; 2024: 13; 2025: 19; 2026: 19.

92 papers.

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  1. 2021RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matchingcited by 348
  2. 2022Unifying Flow, Stereo and Depth Estimationcited by 270
  3. 2022Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlationcited by 197
  4. 2025FoundationStereo: Zero-Shot Stereo Matchingcited by 168
  5. 2023DynamicStereo: Consistent Dynamic Depth from Stereo Videoscited by 147
  6. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 142
  7. 2024Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matchingcited by 98
  8. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  9. 2024IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matchingcited by 55
  10. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  11. 2025DEFOM-Stereo: Depth Foundation Model Based Stereo Matchingcited by 51
  12. 2021OOD-CV: A Benchmark for Robustness to Out-of-Distribution Shifts of Individual Nuisances in Natural Imagescited by 46
38 more
  1. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  2. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  3. 2023Uncertainty Guided Adaptive Warping for Robust and Efficient Stereo Matchingcited by 36
  4. 2022RTMV: A Ray-Traced Multi-View Synthetic Dataset for Novel View Synthesiscited by 33
  5. 2023Revisiting Domain-Adaptive 3D Object Detection by Reliable, Diverse and Class-balanced Pseudo-Labelingcited by 28
  6. 2022Neural-Sim: Learning to Generate Training Data with NeRFcited by 27
  7. 2021ZePHyR: Zero-shot Pose Hypothesis Ratingcited by 26
  8. 2021NViSII: A Scriptable Tool for Photorealistic Image Generationcited by 24
  9. 2024Match-Stereo-Videos: Bidirectional Alignment for Consistent Dynamic Stereo Matchingcited by 24
  10. 2022Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Pickingcited by 20
  11. 2023Global Occlusion-Aware Transformer for Robust Stereo Matchingcited by 19
  12. 2025MonSter++: Unified Stereo Matching, Multi-view Stereo, and Real-time Stereo with Monodepth Priorscited by 19
  13. 2022DALL-E for Detection: Language-driven Compositional Image Synthesis for Object Detectioncited by 17
  14. 2023Sim2real Transfer Learning for Point Cloud Segmentation: An Industrial Application Case on Autonomous Disassemblycited by 16
  15. 2024All-in-One: Transferring Vision Foundation Models into Stereo Matchingcited by 16
  16. 2023MVTrans: Multi-View Perception of Transparent Objectscited by 14
  17. 2024PEGASUS: Physically Enhanced Gaussian Splatting Simulation System for 6DoF Object Pose Dataset Generationcited by 13
  18. 2023OOD-CV-v2: An extended Benchmark for Robustness to Out-of-Distribution Shifts of Individual Nuisances in Natural Imagescited by 12
  19. 2024Match Stereo Videos via Bidirectional Alignmentcited by 11
  20. 2022The Chamber Ensemble Generator: Limitless High-Quality MIR Data via Generative Modelingcited by 10
  21. 2023Beyond Generation: Harnessing Text to Image Models for Object Detection and Segmentationcited by 10
  22. 2024VIEW: Visual Imitation Learning with Waypointscited by 10
  23. 2022SimVQA: Exploring Simulated Environments for Visual Question Answeringcited by 8
  24. 2022An Improved RaftStereo Trained with A Mixed Dataset for the Robust Vision Challenge 2022cited by 8
  25. 2024Generating Diverse Agricultural Data for Vision-Based Farming Applicationscited by 7
  26. 2025Stereo Any Video: Temporally Consistent Stereo Matchingcited by 7
  27. 2025What Makes Good Synthetic Training Data for Zero-Shot Stereo Matching?cited by 7
  28. 2021SyntEO: Synthetic Data Set Generation for Earth Observation and Deep Learning -- Demonstrated for Offshore Wind Farm Detectioncited by 6
  29. 2023Adjacent-view Transformers for Supervised Surround-view Depth Estimationcited by 6
  30. 2024Motif Channel Opened in a White-Box: Stereo Matching via Motif Correlation Graphcited by 5
  31. 2025Towards Open-World Generation of Stereo Images and Unsupervised Matchingcited by 5
  32. 2026PromptStereo: Zero-Shot Stereo Matching via Structure and Motion Promptscited by 5
  33. 2026Vision as Unified Multimodal Generationcited by 5
  34. 2023Synthetic Data Generation for Bridging Sim2Real Gap in a Production Environmentcited by 4
  35. 2025Consistency-aware Self-Training for Iterative-based Stereo Matchingcited by 4
  36. 2025A Review of 3D Object Detection with Vision-Language Modelscited by 4
  37. 2025Global Regulation and Excitation via Attention Tuning for Stereo Matchingcited by 4
  38. 2026Syn4D: A Multiview Synthetic 4D Datasetcited by 4

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