T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-Less Objects

  title={T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-Less Objects},
  author={Tomas Hodan and Pavel Haluza and Step{\'a}n Obdrz{\'a}lek and Jiri Matas and Manolis I. A. Lourakis and Xenophon Zabulis},
  journal={2017 IEEE Winter Conference on Applications of Computer Vision (WACV)},
We introduce T-LESS, a new public dataset for estimating the 6D pose, i.e. translation and rotation, of texture-less rigid objects. The dataset features thirty industry-relevant objects with no significant texture and no discriminative color or reflectance properties. The objects exhibit symmetries and mutual similarities in shape and/or size. Compared to other datasets, a unique property is that some of the objects are parts of others. The dataset includes training and test images that were… CONTINUE READING
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