MVTec ITODD

A Dataset for 3D Object Recognition in Industry

Abstract

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.

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.

Attribution

If you use the dataset in scientific work, please cite:

Bertram Drost, Markus Ulrich, Paul Bergmann, Philipp Härtinger, and Carsten Steger. Introducing MVTec ITODD — A Dataset for 3D Object Recognition in Industry; in: IEEE International Conference on Computer Vision (ICCV), 2200-2208, October 2017.

Evaluate

The MVTec ITODD dataset is now one of the datasets of the BOP (Benchmark for 6D Object Pose Estimation) challenge. To evaluate your method on the dataset, and to see the results of other methods, please visit the BOP evaluation server.

Download

Due to the size of the files, the download is split into multiple parts. All parts can be extracted into the same directory. The base package must be downloaded. Depending on which modalities your method operates on, the other packages can be downloaded as required.

Note that an evaluation on all data is preferred. For example, a method that uses 3D input data should be evaluated on both the high quality and the low quality 3D data, while a method that works on image data should be evaluated on all three cameras. However, you can also evaluate only on selected data, which will be mentioned in the result list and should be noted in any publication.

Base Package (required): Contains the CAD models, calibration information, a few ground truth poses, and other information. This package always must be downloaded. Download Base Package (150 MB)

3D Data: Contains X, Y, and Z (i.e., range) images of each scene. Because the 3D data was acquired with stereo sensors, the download also contains the left camera image of each scene. The camera image has approximately the same viewpoint as the 3D / range data. Data of two sensors with different 3D quality are available:
- Download Images of Long Baseline 3D Sensor (5.2 GB)
- Download Images of Short Baseline 3D Sensor (2.3 GB)

2D Grayscale Images: Contains the images taken with the three grayscale cameras. Two images were taken with each: One with and one without a projected pattern that can be used, for example, for stereo reconstruction. Additionally, each image is provided in both its original form, which has optical distortions, and a rectified form.