BONK-pose

Boats On Norderelbe at Kehrwieder

6D pose estimation dataset

We took inspiration from the format the KITTI dataset uses in the 3D Object Detection Evaluation 2017 challenge. Per image, we create a .txt containing the intrinsic camera matrix and a .json containing a list of vessel objects with their pose and size. See our github for details or download the dataset from the UHH cloud.

Visualised pose of the provided sample1
Visualised pose of the provided sample2