# IKEA Object State Dataset: A 6DoF object pose estimation dataset and benchmark for multi-state assembly objects

arXiv: https://arxiv.org/abs/2111.08614 · HTML: https://mlsanity.com/paper/2111.08614/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 15 references that are in the map.
- First posted on arXiv 16 Nov 2021.

## Builds on (most cited first, 7 of 7)

- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects](https://mlsanity.com/paper/1701.05498/) (2017)
- [HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objects](https://mlsanity.com/paper/1904.03167/) (2019)
- [The IKEA ASM Dataset: Understanding People Assembling Furniture through Actions, Objects and Pose](https://mlsanity.com/paper/2007.00394/) (2020)
- [Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-Picking](https://mlsanity.com/paper/1912.12125/) (2019)
- [Human Pose Forecasting via Deep Markov Models](https://mlsanity.com/paper/1707.09240/) (2017)
- [Learning to Track Object Position through Occlusion](https://mlsanity.com/paper/2106.10766/) (2021)

## Built on by (most cited first, 6 of 6)

- [IndustReal: A Dataset for Procedure Step Recognition Handling Execution Errors in Egocentric Videos in an Industrial-Like Setting](https://mlsanity.com/paper/2310.17323/) (2023)
- [IKEA-Manual: Seeing Shape Assembly Step by Step](https://mlsanity.com/paper/2302.01881/) (2023)
- [IKEA Manuals at Work: 4D Grounding of Assembly Instructions on Internet Videos](https://mlsanity.com/paper/2411.11409/) (2024)
- [A Survey on Computational Solutions for Reconstructing Complete Objects by Reassembling Their Fractured Parts](https://mlsanity.com/paper/2410.14770/) (2024)
- [GBOT: Graph-Based 3D Object Tracking for Augmented Reality-Assisted Assembly Guidance](https://mlsanity.com/paper/2402.07677/) (2024)
- [ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimation](https://mlsanity.com/paper/2403.16400/) (2024)

## Abstract (arXiv)

Utilizing 6DoF(Degrees of Freedom) pose information of an object and its components is critical for object state detection tasks. We present IKEA Object State Dataset, a new dataset that contains IKEA furniture 3D models, RGBD video of the assembly process, the 6DoF pose of furniture parts and their bounding box. The proposed dataset will be available at https://github.com/mxllmx/IKEAObjectStateDataset.