MVTec industrial 3D object detection dataset (MVTec ITODD)

A dataset for 3D object recognition in industry

Dataset for 3D object recognition


The MVTec industrial 3D object detection dataset (MVTec ITODD) is a public dataset for 3D object detection and pose estimation with a strong focus on industrial settings and applications.

The dataset consists of

  • 28 objects and 3500 labeled scenes containing instances of these objects
  • Five sensors (two 3D sensors and three grayscale cameras) observing each scene

More information can be found in this PDF file.

Dataset Download:


The MVTec ITODD dataset is now one of the datasets of the BOP (Benchmark for 6D Object Pose Estimation) challenge.

Please note: License Terms

The data is released under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).

In particular, it is not allowed to use the dataset for commercial purposes. If you are unsure whether or not your application violates the non-commercial use clause of the license, please contact us.

If you have any questions or comments about the dataset, feel free to contact us via email.

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