qq456cvb/DiversePose300

DiversePose 300

DiversePose 300 is a challenging category-level object pose estimation benchmark introduced in CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation (TPAMI 2024). It contains real-world RGB-D captures of common objects (bottles, bowls, mugs) in diverse, unconstrained scenes, designed to test the generalization of pose estimators beyond NOCS REAL275.

• Code: https://github.com/qq456cvb/CPPF2
• Project page: https://qq456cvb.github.io/projects/cppf++

Contents

Path	Description
bottle/, bowl/, mug/	Per-category scenes; each scene folder contains paired RGB images (color_*.png) and colored point clouds (color_*.ply)
intrinsics.npz	Camera intrinsics
config.ini	Capture configuration
convert2ply.py	Script used to convert raw captures to PLY point clouds

Usage

pip install -U "huggingface_hub[cli]"
hf download qq456cvb/DiversePose300 --repo-type dataset --local-dir DiversePose300

Citation

@ARTICLE{youcppf2,
  author={You, Yang and He, Wenhao and Liu, Jin and Xiong, Hongkai and Wang, Weiming and Lu, Cewu},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence}, 
  title={CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation}, 
  year={2024},
  volume={46},
  number={12},
  pages={9239-9254},
  doi={10.1109/TPAMI.2024.3419038}
}