Abstract
We introduce a new image dataset for object detection and 6D pose estimation, named Extra FAT. The dataset consists of 825K photorealistic RGB images with annotations of groundtruth location and rotation for both the virtual camera and the objects. A registered pixel-level object segmentation mask is also provided for object detection and segmentation tasks. The dataset includes 110 different 3D object models. The object models were rendered in five scenes with diverse illumination, reflection, and occlusion conditions.
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