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StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimation

arXiv 2109.10115 ↗First posted 21 Sep 2021cs.CV cs.LG cs.ROcited by 40

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Abstract (arXiv)

We present a large-scale stereo RGB image object pose estimation dataset named the StereOBJ-1M dataset. The dataset is designed to address challenging cases such as object transparency, translucency, and specular reflection, in addition to the common challenges of occlusion, symmetry, and variations in illumination and environments. In order to collect data of sufficient scale for modern deep learning models, we propose a novel method for efficiently annotating pose data in a multi-view fashion that allows data capturing in complex and flexible environments. Fully annotated with 6D object poses, our dataset contains over 393K frames and over 1.5M annotations of 18 objects recorded in 182 scenes constructed in 11 different environments. The 18 objects include 8 symmetric objects, 7 transparent objects, and 8 reflective objects. We benchmark two state-of-the-art pose estimation frameworks on StereOBJ-1M as baselines for future work. We also propose a novel object-level pose optimization method for computing 6D pose from keypoint predictions in multiple images. Project website: https://sites.google.com/view/stereobj-1m.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). Builds on 31 of its 43 references that are in the map. First posted on arXiv 21 Sep 2021.

Builds on

31 of 43 references.

References · 31

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  2. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,161
  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  4. 2016Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervisioncited by 493
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  6. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  7. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  8. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  9. 2017Integral Human Pose Regressioncited by 255
  10. 2018FlowNet3D: Learning Scene Flow in 3D Point Cloudscited by 241
  11. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  12. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
19 more
  1. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  2. 2016Panoptic Studio: A Massively Multiview System for Social Interaction Capturecited by 173
  3. 2019Stereo R-CNN based 3D Object Detection for Autonomous Drivingcited by 163
  4. 2019kPAM: KeyPoint Affordances for Category-Level Robotic Manipulationcited by 152
  5. 2019Point-Based Multi-View Stereo Networkcited by 147
  6. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  7. 2019MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequencescited by 117
  8. 2015Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocolscited by 98
  9. 2018Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimationcited by 92
  10. 20176-DoF Object Pose from Semantic Keypointscited by 89
  11. 2018SegStereo: Exploiting Semantic Information for Disparity Estimationcited by 88
  12. 2018Discovery of Latent 3D Keypoints via End-to-end Geometric Reasoningcited by 79
  13. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  14. 2018A Unified Framework for Multi-View Multi-Class Object Pose Estimationcited by 49
  15. 2017LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenescited by 32
  16. 2020Robust 6D Object Pose Estimation by Learning RGB-D Featurescited by 25
  17. 2020YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimationcited by 12
  18. 2019MaskedFusion: Mask-based 6D Object Pose Estimationcited by 9
  19. 2018Object Pose Estimation from Monocular Image using Multi-View Keypoint Correspondencecited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 11; 2023: 13; 2024: 8; 2025: 3; 2026: 3.

40 papers.

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  1. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 120
  2. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  3. 2022TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baselinecited by 55
  4. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  5. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 48
  6. 2022ClearPose: Large-scale Transparent Object Dataset and Benchmarkcited by 46
  7. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  8. 2023Learning Depth Estimation for Transparent and Mirror Surfacescited by 34
  9. 2023On the Importance of Accurate Geometry Data for Dense 3D Vision Taskscited by 26
  10. 2022Is my Depth Ground-Truth Good Enough? HAMMER -- Highly Accurate Multi-Modal Dataset for DEnse 3D Scene Regressioncited by 18
  11. 2021Polarimetric Pose Predictioncited by 16
  12. 2023TRansPose: Large-Scale Multispectral Dataset for Transparent Objectcited by 15
28 more
  1. 2022TransNet: Category-Level Transparent Object Pose Estimationcited by 13
  2. 2023HMDO: Markerless Multi-view Hand Manipulation Capture with Deformable Objectscited by 12
  3. 2023PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environmentscited by 11
  4. 2024FineBio: A Fine-Grained Video Dataset of Biological Experiments with Hierarchical Annotationcited by 11
  5. 2024LayeredFlow: A Real-World Benchmark for Non-Lambertian Multi-Layer Optical Flowcited by 11
  6. 2023Pseudo Flow Consistency for Self-Supervised 6D Object Pose Estimationcited by 9
  7. 2024SCRREAM : SCan, Register, REnder And Map:A Framework for Annotating Accurate and Dense 3D Indoor Scenes with a Benchmarkcited by 9
  8. 2022Stability-driven Contact Reconstruction From Monocular Color Imagescited by 8
  9. 2022BCOT: A Markerless High-Precision 3D Object Tracking Benchmarkcited by 7
  10. 2025XYZ-IBD: Benchmarking Robust 6D Object Pose Estimation under Real-World Industrial Complexitycited by 7
  11. 2022ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perceptioncited by 6
  12. 2022Visual-tactile Fusion for Transparent Object Grasping in Complex Backgroundscited by 5
  13. 2024Extending 6D Object Pose Estimators for Stereo Visioncited by 5
  14. 2021V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objectscited by 3
  15. 2023Digital Twin Tracking Dataset (DTTD): A New RGB+Depth 3D Dataset for Longer-Range Object Tracking Applicationscited by 3
  16. 2024SurgeoNet: Realtime 3D Pose Estimation of Articulated Surgical Instruments from Stereo Images using a Synthetically-trained Networkcited by 3
  17. 2023For A More Comprehensive Evaluation of 6DoF Object Pose Trackingcited by 2
  18. 2023TransNet: Transparent Object Manipulation Through Category-Level Pose Estimationcited by 1
  19. 2023Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Datasetcited by 1
  20. 2026Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classescited by 1
  21. 2026TransBiolab: A Real-World Multi-View Dataset of Cluttered Transparent Biomedical Objectscited by 1
  22. 2023KVN: Keypoints Voting Network with Differentiable RANSAC for Stereo Pose Estimationcited by 0
  23. 2023Multi-Modal Dataset Acquisition for Photometrically Challenging Objectcited by 0
  24. 2023Tabletop Transparent Scene Reconstruction via Epipolar-Guided Optical Flow with Monocular Depth Completion Priorcited by 0
  25. 2024Detection and Pose Estimation of flat, Texture-less Industry Objects on HoloLens using synthetic Trainingcited by 0
  26. 2025Semantic Segmentation of Transparent and Opaque Drinking Glasses with the Help of Zero-shot Learningcited by 0
  27. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  28. 2026SeeGroup: Multi-Layer Depth Estimation of Transparent Surfaces via Self-Determined Groupingcited by 0