FruitBin contains more than 1M images and 40M instance-level 6D pose annotations over both symmetric and asymmetric fruits with or without texture. Rich annotations and metadata (including 6D pose, segmentation mask, point cloud, 2D and 3D bounding boxes, occlusion rate) allow the tuning of the proposed dataset for benchmarking the robustness of object instance segmentation and 6D pose estimation models (with respect to variations in terms of lighting, texture, occlusion, camera pose and scenes). We further propose three scenarios presenting significant challenges of 6D pose estimation models: new scene generalization; new camera viewpoint generalization; and occlusion robustness. We show the results of these three scenarios for two 6D pose estimation baselines making use of RGB or RGBD images. To the best of our knowledge, FruitBin is the first dataset for the challenging task of fruit bin picking and the biggest large-scale dataset for 6D pose estimation with the most comprehensive challenges, tunable over scenes, camera poses and occlusions.
License : CC BY-NC-SA
The data for the various scenarios can be found in the 'scenarios' folder, which includes 8 zip files, each corresponding to a specific fruit. Each fruit folder contains a set of features such as Bbox, Depth, FPS, Instance_Mask, Labels, Meta, Models, Pose_transformed, and RGB_resized. Some folders may have names ending in 'Gen' or 'Resized' due to image size reduction for training purposes. In addition to that, the 'splitting' folder contains text files that list the images related to the 8 scenarios, along with the train/eval/test splitting. These files are named [split]_[fruit_name]_[scenario_type]_[lower_bound_visibility]. For more precise splitting over occlusion, there are additional folders named 'splitting_occ_01_cameras/worlds' that provide additional splitting files as described in our 'FruitBin' paper.
Currently, only the scenario dataset is accessible in this repository. However, we are actively working on adding the large-scale dataset Fruibin as soon as possible. We apologize for any inconvenience caused by its temporary unavailability.