mlsanityData to 14 Oct 2026

PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environments

arXiv 2312.15130 ↗First posted 23 Dec 2023cs.CVcited by 11

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Abstract (arXiv)

We introduce PACE (Pose Annotations in Cluttered Environments), a large-scale benchmark designed to advance the development and evaluation of pose estimation methods in cluttered scenarios. PACE provides a large-scale real-world benchmark for both instance-level and category-level settings. The benchmark consists of 55K frames with 258K annotations across 300 videos, covering 238 objects from 43 categories and featuring a mix of rigid and articulated items in cluttered scenes. To annotate the real-world data efficiently, we develop an innovative annotation system with a calibrated 3-camera setup. Additionally, we offer PACE-Sim, which contains 100K photo-realistic simulated frames with 2.4M annotations across 931 objects. We test state-of-the-art algorithms in PACE along two tracks: pose estimation, and object pose tracking, revealing the benchmark's challenges and research opportunities. Our benchmark code and data is available on https://github.com/qq456cvb/PACE.

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 38 of its 49 references that are in the map. First posted on arXiv 23 Dec 2023.

Builds on

38 of 49 references.

References · 38

  1. 2023Segment Anythingcited by 8,234
  2. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  3. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,320
  4. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  5. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 652
  6. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  7. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  8. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
  9. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  10. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  11. 2018Pix3D: Dataset and Methods for Single-Image 3D Shape Modelingcited by 218
  12. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
26 more
  1. 2019Category-Level Articulated Object Pose Estimationcited by 159
  2. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  3. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  4. 2018Scan2CAD: Learning CAD Model Alignment in RGB-D Scanscited by 142
  5. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  6. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  7. 2019PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Trackingcited by 91
  8. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 90
  9. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  10. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  11. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 82
  12. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  13. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  14. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  15. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  16. 2023NAVI: Category-Agnostic Image Collections with High-Quality 3D Shape and Pose Annotationscited by 53
  17. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 49
  18. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 48
  19. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 48
  20. 2021StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimationcited by 40
  21. 2022Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objectscited by 30
  22. 2018A Region-based Gauss-Newton Approach to Real-Time Monocular Multiple Object Trackingcited by 21
  23. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  24. 2017Deep 6-DOF Trackingcited by 13
  25. 2023Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Trackingcited by 7
  26. 2022CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregationcited by 6

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 1; 2025: 3; 2026: 7.

11 papers.

  1. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  2. 2024ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Roboticscited by 7
  3. 2026A Mixed Diet Makes DINO An Omnivorous Vision Encodercited by 4
  4. 2025BleedOrigin: Dynamic Bleeding Source Localization in Endoscopic Submucosal Dissection via Dual-Stage Detection and Trackingcited by 2
  5. 2026IndustryShapes: An RGB-D Benchmark dataset for 6D object pose estimation of industrial assembly components and toolscited by 2
  6. 2026OCH3R: Object-Centric Holistic 3D Reconstructioncited by 1
  7. 2026Tac-DINO: Learning Vision-Tactile Features with Patch Alignmentcited by 1
  8. 2026TAPVid-MV: A Benchmark for Tracking Any Point in 3D Across Multiple Viewscited by 1
  9. 2025Object-Centric Data Synthesis for Category-level Object Detectioncited by 0
  10. 2026UniPose9D: Universal Category-Agnostic Object Pose Estimationcited by 0
  11. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0