NOCS-REAL

NOCS-REAL dataset is the first real-world dataset for category-level 6D object pose estimation. The training set has 4300 real images of 7 scenes with 6 categories. For each category, there are 3 unique instances. In the testing set, there are 2750 real images spread in 6 scenes of the same 6 categories as the training set. In each test scene, there are about 5 objects which makes the dataset clutter and challenging.