CORSMAL
Introduced in A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers2022
About this Dataset
CORSMAL is a dataset for estimating the position and orientation in 3D (or 6D pose) of an object from a single view. The dataset consists of 138,240 images of rendered hands and forearms holding 48 synthetic objects, split into 3 grasp categories over 30 real backgrounds.
Source: A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers
Image Source: https://arxiv.org/pdf/2211.10470v1.pdf
Dataset Variants
