ClearPose: Large-scale Transparent Object Dataset and Benchmark

03/08/2022
by   Xiaotong Chen, et al.
9

Transparent objects are ubiquitous in household settings and pose distinct challenges for visual sensing and perception systems. The optical properties of transparent objects leave conventional 3D sensors alone unreliable for object depth and pose estimation. These challenges are highlighted by the shortage of large-scale RGB-Depth datasets focusing on transparent objects in real-world settings. In this work, we contribute a large-scale real-world RGB-Depth transparent object dataset named ClearPose to serve as a benchmark dataset for segmentation, scene-level depth completion and object-centric pose estimation tasks. The ClearPose dataset contains over 350K labeled real-world RGB-Depth frames and 4M instance annotations covering 63 household objects. The dataset includes object categories commonly used in daily life under various lighting and occluding conditions as well as challenging test scenarios such as cases of occlusion by opaque or translucent objects, non-planar orientations, presence of liquids, etc. We benchmark several state-of-the-art depth completion and object pose estimation deep neural networks on ClearPose.

READ FULL TEXT

page 2

page 3

page 6

page 7

page 8

page 10

page 12

page 13

research
07/23/2023

TransNet: Transparent Object Manipulation Through Category-Level Pose Estimation

Transparent objects present multiple distinct challenges to visual perce...
research
11/15/2022

Grasping the Inconspicuous

Transparent objects are common in day-to-day life and hence find many ap...
research
09/21/2021

StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimation

We present a large-scale stereo RGB image object pose estimation dataset...
research
02/22/2023

MVTrans: Multi-View Perception of Transparent Objects

Transparent object perception is a crucial skill for applications such a...
research
07/11/2023

TRansPose: Large-Scale Multispectral Dataset for Transparent Object

Transparent objects are encountered frequently in our daily lives, yet r...
research
07/09/2021

Using Depth for Improving Referring Expression Comprehension in Real-World Environments

In a human-robot collaborative task where a robot helps its partner by f...
research
11/14/2022

AsyncNeRF: Learning Large-scale Radiance Fields from Asynchronous RGB-D Sequences with Time-Pose Function

Large-scale radiance fields are promising mapping tools for smart transp...

Please sign up or login with your details

Forgot password? Click here to reset