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PROPS Pose Estimation Dataset

This portion of the dataset is catered for 6 degrees-of-freedom rigid body object pose estimation. The PROPS Pose dataset contains 10 object categories with 500 training images and 500 validation images. Each image in the dataset is a 640x480 RGB color image. Aligned depth images and segmentation masks are also included in the dataset.


The dataset is available for download on Google Drive .

We provide the PROPSPoseDataset, a PyTorch dataset class, to support development with and use of the PROPS Pose dataset.


Sample images and labels for each category in the PROPS Pose dataset are included below:

Sample animation showing PROPS pose samples

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