TransCG
RGB-DCC-BY-NC-SAIntroduced 2022-02-17
TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240 viewpoints) of 130 scenes under real-world settings. The samples are captured by two different types of cameras (Realsense D435 & L515).
The following data is provided:
- The 3D model of the transparent object;
- The 6dpose of the transparent object in each viewpoint of each scene;
- The raw RGB-D image, and the ground-truth refined depth image;
- The mask of the transparent objects;
- The ground-truth surface normals of every sample.
Benchmarks
3D/Delta < 1.253D/MAE3D/REL3D/RMSE3D/delta < 1.053D/delta < 1.103D Depth Estimation/Delta < 1.253D Depth Estimation/MAE3D Depth Estimation/REL3D Depth Estimation/RMSE3D Depth Estimation/delta < 1.053D Depth Estimation/delta < 1.10Depth Estimation/Delta < 1.25Depth Estimation/MAEDepth Estimation/RELDepth Estimation/RMSEDepth Estimation/delta < 1.05Depth Estimation/delta < 1.10