---
license: cc-by-sa-4.0
pretty_name: YCB-V Depth+Stereo 6D Object Pose Estimation Dataset
task_categories:
- object-detection
---

We provide our stereo recordings for the YCB-V object dataset, as well as some of our physically-based stereo renderings. 

![Teaser Image](teaser.jpg)

If you find this dataset useful, please cite 
```
@article{pollabauer2024extending,
  title={Extending 6D Object Pose Estimators for Stereo Vision},
  author={Pöllabauer, Thomas and Emrich, Jan and Knauthe, Volker and Kuijper, Arjan},
  journal={arXiv preprint arXiv:2402.05610},
  year={2024}
}
```