TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240 viewpoints) of 130 scenes under real-world settings. The samples are captured by two different types of cameras (Realsense D435 & L515).
4 PAPERS • 1 BENCHMARK
SuperCaustics is a simulation tool made in Unreal Engine for generating massive computer vision datasets that include transparent objects.
2 PAPERS • 1 BENCHMARK
Bosch Industrial Depth Completion Dataset (BIDCD) is an RGBD dataset for of static table-top scenes with industrial objects. The data was collected with a RealSense depth-camera mounted on a robotic arm, i.e. from multiple Points-of-View (POV), approximately 60 for each scene. We generated depth ground truth with a customized pipeline for removing erroneous depth values, and applied Multi-View geometry to fuse the cleaned depth frames and fill-in missing information. The fused scene mesh was back-projected to each POV, and finally a bi-lateral filter was applied to reduce the remaining holes.
1 PAPER • NO BENCHMARKS YET
PLAD is a dataset where sparse depth is provided by line-based visual SLAM to verify StructMDC.
1 PAPER • 1 BENCHMARK