The benchmark dataset contains 452 scenes with 2087 unique object poses seen from multiple viewpoints. In total, there are 7,281 images with manually annotated ground truth 6D object poses and segmentation labels. 266 scenes were captured in an office environment (at MIT), with strong overhead directional lights and low ambient lighting. 186 scenes were captured in a warehouse environment (at the competition location in Germany) with weak overhead directional lights and high ambient lighting. The dataset contents are divided into two main subsets:        

office environment        

test - 266 scenes captured in an office environment (at MIT).

calibration -  a set of calibration scenes and pre-calibrated relative camera poses for the setup in the office environment. A calibration scene consists of an empty tote or shelf bin, overlaid with textured images rich with 2D features for Structure-from-Motion.

empty - a set of scenes for an empty (no object) setup in the office environment.

warehouse environment        

competition - 25 scenes captured in the warehouse environment at the APC location in Germany, recorded during our final competition runs.

practice - 161 scenes captured in the warehouse environment at the APC location in Germany, recorded during our practice runs.

calibration - a set of calibration scenes and pre-calibrated relative camera poses for the setup in the warehouse environment. A calibration scene consists of an empty tote or shelf bin, overlaid with textured images rich with 2D features for Structure-from-Motion.

empty - a set of scenes for an empty (no object) setup in the warehouse environment.

Each scene (in addition to the files described here), contains:        
scene-XXXX          

• segm/frame-XXXXXX.segm.png - 8-bit PNG image of ground truth object segmentation labels automatically generated using the manual 6D object pose labels. Divide each pixel value by 6 to obtain label range [0,39].