# TransBiolab: A Real-World Multi-View Dataset of Cluttered Transparent Biomedical Objects

arXiv: https://arxiv.org/abs/2607.21071 · HTML: https://mlsanity.com/paper/2607.21071/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 42 references that are in the map.
- First posted on arXiv 23 Jul 2026.

## Builds on (most cited first, 16 of 16)

- [SAM 3: Segment Anything with Concepts](https://mlsanity.com/paper/2511.16719/) (2025)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols](https://mlsanity.com/paper/1502.03143/) (2015)
- [Segmenting Transparent Objects in the Wild](https://mlsanity.com/paper/2003.13948/) (2020)
- [EDTalk: Efficient Disentanglement for Emotional Talking Head Synthesis](https://mlsanity.com/paper/2404.01647/) (2024)
- [Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd](https://mlsanity.com/paper/1512.07506/) (2015)
- [TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline](https://mlsanity.com/paper/2202.08471/) (2022)
- [StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimation](https://mlsanity.com/paper/2109.10115/) (2021)
- [Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objects](https://mlsanity.com/paper/2110.00087/) (2021)
- [ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking](https://mlsanity.com/paper/2105.04112/) (2021)
- [FixTalk: Taming Identity Leakage for High-Quality Talking Head Generation in Extreme Cases](https://mlsanity.com/paper/2507.01390/) (2025)
- [SynMotion: Semantic-Visual Adaptation for Motion Customized Video Generation](https://mlsanity.com/paper/2506.23690/) (2025)
- [Phys-Liquid: A Physics-Informed Dataset for Estimating 3D Geometry and Volume of Transparent Deformable Liquids](https://mlsanity.com/paper/2511.11077/) (2025)
- [ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception](https://mlsanity.com/paper/2203.00283/) (2022)
- [CoDance: An Unbind-Rebind Paradigm for Robust Multi-Subject Animation](https://mlsanity.com/paper/2601.11096/) (2026)

## Built on by (most cited first, 1 of 1)

- [R4DSG: Relative 4D Scene Graph Memory for Object-Centric Question Answering in Long Egocentric Video](https://mlsanity.com/paper/2608.11017/) (2026)

## Abstract (arXiv)

Autonomous biomedical laboratories increasingly rely on visual perception to recognize, localize, and manipulate transparent plasticware, yet high-quality real-world datasets for this setting remain limited. The scarcity of domain-relevant data is particularly restrictive in cluttered multi-object scenes, where mutual occlusion and view-dependent appearance changes remain challenging even for contemporary visual foundation models. Existing transparent-object datasets have advanced segmentation, depth, and pose estimation, but they usually do not evaluate the combined setting of multi-object clutter, occlusion, and calibrated multi-view capture that characterizes real laboratory manipulation scenes. To address this gap, we present TrainsBiolab, a real-world RGB-D dataset of cluttered transparent biomedical objects captured as calibrated multi-view sequences. TrainsBiolab contains 161,315 frames from 98 scenes and 1.03M instance annotations over 15 laboratory object types, including 6D poses, full and visible masks, depth, and per-frame camera calibration. The dataset is organized along three axes that reflect operational difficulty: object category, the total number of objects in a frame, and camera viewpoint. We further define dataset-centric benchmarks for segmentation, depth estimation and completion, and 6D pose estimation, and report a system-level robot manipulation evaluation enabled by the released annotations and calibrations. By focusing on repeated transparent instances, clutter, and multi-view laboratory capture, TrainsBiolab provides a resource for segmentation, depth estimation, 6D pose estimation, and multi-view reasoning in autonomous laboratory manipulation. Project page: https://dualtransparency.github.io/TransBiolab/.