RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos

Hongchi Xia; Yang Fu; Sifei Liu; Xiaolong Wang

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arXiv · 2401.12592

RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos

Hongchi Xia·Yang Fu·Sifei Liu·Xiaolong Wang

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Abstract

We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing, the direct capture of the depth channel allows better 3D annotations and broader downstream applications. WildRGB-D comprises large-scale category-level RGB-D object videos, which are taken using an iPhone to go around the objects in 360 degrees. It contains around 8500 recorded objects and nearly 20000 RGB-D videos across 46 common object categories. These videos are taken with diverse cluttered backgrounds with three setups to cover as many real-world scenarios as possible: (i) a single object in one video; (ii) multiple objects in one video; and (iii) an object with a static hand in one video. The dataset is annotated with object masks, real-world scale camera poses, and reconstructed aggregated point clouds from RGBD videos. We benchmark four tasks with WildRGB-D including novel view synthesis, camera pose estimation, object 6d pose estimation, and object surface reconstruction. Our experiments show that the large-scale capture of RGB-D objects provides a large potential to advance 3D object learning. Our project page is https://wildrgbd.github.io/.

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BibTeX RIS

Hongchi Xia, Yang Fu, Sifei Liu, Xiaolong Wang. 2024-07-28. RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos. https://arxiv.org/abs/2401.12592

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