RT-Less

Large public unique dataset: RTL contains 258K real and synthetic images of reflective texture-less metal parts.

Multiple scenes: The scene setup contains many variables to simulate real scene and provide varying levels.

Industrial multi-view acquisition: Camera placement uses the eye-in-hand method to simulate a real industrial view.

Ground truth pose & bounding-boxes: Accurate annotations for each object are provided.

Various CAD models: Three types of formats of CAD models were provided to assist training.

OBJECTS

38 reflective texture-less machined parts with typical industrial features.

SCENES

32 scenes simulate real scenes in terms of parts placement, parts types and shape, lighting, background, etc.

USAGE

Training modes

Use CAD models only without real images for training.

Use real images for training (CAD models are optional).

Testing modes

Use object detection simulation module to test the pose estimation method only.

Use build-in real object detection module to test the object detection and pose estimation methods as a whole.

Scene groups

Few occlusions and clutters scenes: 1, 3, 7, 11, 13, 15, 16, 20, 24, 28, 29, 31, 32

Slight occlusion and few clutters scenes: 6, 5, 12, 15, 17, 22, 24, 25, 26, 27

Severe occlusion and clutter scenes: 2, 4, 8, 9, 10, 14, 18, 19, 21, 23, 27, 30

Toolbox

DOWNLOAD

CAD Models

Sldprt models

Ply models

Stl models

models BOP format

Infos

obj_infos

scene_infos

Objects

Objects Real(512×512)

Objects Render(512×512)

Objects Real(2448×2048)

Scenes

Scenes Real(512×512)

Scenes Real(2448×2048)