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<!DOCTYPE html>
<html>
<head lang="en">
<meta charset="UTF-8">
<meta http-equiv="x-ua-compatible" content="ie=edge">
<title>CEA-IMSOLD</title>
<meta name="description" content="">
<meta name="viewport" content="width=device-width, initial-scale=1">
<!-- <meta property="og:image" content="https://jonbarron.info/zipnerf/img/nottingham.jpg"> -->
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<meta property="og:title" content="CEA-IMSOLD: a Dataset for Multi-Scale Object Localization
in Industry" />
<meta property="og:description" content="We introduce the CEA Industrial Multi-Scale Ob-
ject Localization Dataset (CEA-IMSOLD), a new BOP format
dataset for 6-DoF object localization, crucial for robotics. This
dataset aims to evaluate the current localization methods with
respect to a new difficulty: large variations in observation dis-
tance and, consequently, large variations in image appearance.
Compared to the other publicly available datasets, our dataset
provides both images with objects small and completely visible
in the image, and images where objects are observed close
enough so they appear larger than the field of view of the cam-
era. We also propose to consider the observation distance in the
evaluation process and introduce new metrics to do so. Finally,
our dataset contains a large variety of industrial objects, from
small and simple objects such as bolts to sizable and complex
ones such as large car parts." />
<meta name="twitter:card" content="summary_large_image" />
<meta name="twitter:title" content="CEA-IMSOLD: a Dataset for Multi-Scale Object Localization
in Industry" />
<meta name="twitter:description" content="We introduce the CEA Industrial Multi-Scale Ob-
ject Localization Dataset (CEA-IMSOLD), a new BOP format
dataset for 6-DoF object localization, crucial for robotics. This
dataset aims to evaluate the current localization methods with
respect to a new difficulty: large variations in observation dis-
tance and, consequently, large variations in image appearance.
Compared to the other publicly available datasets, our dataset
provides both images with objects small and completely visible
in the image, and images where objects are observed close
enough so they appear larger than the field of view of the cam-
era. We also propose to consider the observation distance in the
evaluation process and introduce new metrics to do so. Finally,
our dataset contains a large variety of industrial objects, from
small and simple objects such as bolts to sizable and complex
ones such as large car parts." />
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</head>
<body>
<div class="container" id="main">
<div class="row">
<h2 class="col-md-12 text-center">
<b>CEA-IMSOLD</b>: a Dataset for Multi-Scale Object Localization in Industry</br>
</h2>
</div>
<div class="row">
<div class="col-md-12 text-center">
<ul class="list-inline">
<li>
<a href="https://doriandpetit.com/">
Boris Meden¹
</a>
</li>
<li>
<a href="https://scholar.google.com/citations?hl=fr&user=Ym-suFYAAAAJ">
Emanuel Pablo Vega¹
</a>
</li>
<li>
<a href="https://cedric.cnam.fr/lab/en/author/paveld/">
Fabrice Mayran de Chamisso¹
</a>
</li>
<li>
<a href="https://scholar.google.com/citations?user=kUVG8pIAAAAJ&hl=fr">
Steve Bourgeois¹
</a>
</li>
</br>¹Université Paris-Saclay, CEA List, F-91120, Palaiseau, France
</ul>
</div>
</div>
<div class="row">
<div class="col-md-4 col-md-offset-4 text-center">
<ul class="nav nav-pills nav-justified">
<li>
<a href="https://cea.hal.science/cea-04683509">
<image src="img/paper_image.jpg" height="150px" width="116px">
<h4><strong>Paper</strong></h4>
</a>
</li>
<li>
<a href="https://github.com/CEA-LIST">
<image src="img/data.png" height="150px" width="116px" style="padding-bottom:15%;padding-top:9%;">
<h4><strong>Data (To be released)</strong></h4>
</a>
</li>
</ul>
</div>
</div>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Abstract
</h3>
<p class="text-justify">
We introduce the CEA Industrial Multi-Scale Object Localization Dataset (CEA-IMSOLD), a new BOP format
dataset for 6-DoF object localization, crucial for robotics. This
dataset aims to evaluate the current localization methods with
respect to a new difficulty: large variations in observation distance
and, consequently, large variations in image appearance.
Compared to the other publicly available datasets, our dataset
provides both images with objects small and completely visible
in the image, and images where objects are observed close
enough so they appear larger than the field of view of the cam-
era. We also propose to consider the observation distance in the
evaluation process and introduce new metrics to do so. Finally,
our dataset contains a large variety of industrial objects, from
small and simple objects such as bolts to sizable and complex
ones such as large car parts. </p>
</div>
</div>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Dataset overview
</h3>
<div class="text-center">
<div style="position:relative;padding-top:42%;">
<img src="img/img/portiere.png" style="position:absolute;top:0;left:0;width:100%">
</div>
<br>
<p class="text-justify">
Our dataset covers the following aspectcs, until now unconsidered:
<ol>
<li style="text-align: left">Camera to object distance variation: as illustrated above,
our dataset includes large observation distance
variations while this variation is
limited in BOP challenge datasets. This makes this suitable for use cases
such as: inspection, augmented reality, mobile robotics, etc.</li>
<li style="text-align: left">Depth sensor quality variety: our dataset includes
depth images provided by both high-end and
low-cost sensors, and covers both industrial and consumer applications.</li>
<li style="text-align: left">Object complexity variation: our dataset includes
both simple (e.g. bottle cap), and complex objects (e.g.
car engine), covering use cases such as pick-and-place
and quality inspection.</li>
<li style="text-align: left">High accuracy ground-truth: the annotation process
based on robotic arm and high-end depth sensors
allows to reach high accuracy ground-truth.</li>
<li style="text-align: left">A new metric taking into account distance to objects
in performance evaluation.</li>
</ol>
</p>
</div>
</div>
<br>
<br>
<div class="col-md-8 col-md-offset-2">
<h3>
IMSOLD statistics
</h3>
<div style="position:relative;padding-top:2px;">
<img src="img/img/dist.png" style="width:49%;margin-top:10px">
<img src="img/img/diag.png" style="width:49%;margin-top:10px">
</div>
</div>
<br>
<br>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/test_tikz/test_histogram_IMSOLD_3.png" style="width:100%;margin-top:30px">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/out_215_2.gif" style="width:24.5%">
<img src="img/img/visus/out_209_2.gif" style="width:24.5%">
<img src="img/img/visus/out_213_2.gif" style="width:24.5%">
<img src="img/img/visus/out_203_2.gif" style="width:24.5%">
</div>
</div>
<!--
<div class="col-md-8 col-md-offset-2">
<br>
<h3>
BOP challenge statistics
</h3>
<br>
<div style="position:relative">
<img src="img/img/visus/out_lmo.gif" style="width:30%;margin-top:10px">
<img src="img/img/visus/test_tikz/test_histogram_lmo.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/out_itodd.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_itodd.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/out_tless18.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_tless.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<br>
<div style="position:relative">
<img src="img/img/visus/out_hb13.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_hope.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/out_ycb48.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_ycbv.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/out_icbin03.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_icbin.png" style="width:69%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative">
<img src="img/img/visus/out_tudl01.gif" style="width:30%">
<img src="img/img/visus/test_tikz/test_histogram_tudl.png" style="width:69%">
</div>
</div>
-->
</div>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Objects and 3D models
</h3>
<p class="text-justify">
The dataset is composed of 25 objects with
different characteristics in terms of surface (reflecting vs.
lambertian), symmetries (with vs. without full rotational
symmetry), complexity (primitive shapes vs. complex objects),
flatness (flat vs. voluminous), details (with vs. without
very fine details on their surface), compactness (long vs.
compact), and size (diameters from 23 mm to 1278 mm).
</p>
<div class="slideshow-container">
<div class="mySlides1"> <img src="img/img/imgs/1_L.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">PVC elbow (diameter: 91 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/2_hinge.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Hinge 4 (diameter: 128 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/3_cylinder_0.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Cylinder 133 63 (diameter: 146 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/4_sprayer.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Sprayer (diameter: 115 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/5_T.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Metallic tee (diameter: 74 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/7_hinge3.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Hinge 1 (diameter: 158 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/9_gear_small.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Gear (small) (diameter: 66 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/13_door_500px.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Car door (diameter: 1278 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/15_engine_500.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Engine (diameter: 904 mm)</div></div>
<div class="mySlides1"> <img src="img/img/imgs/8_cylinder_head_500.png" style="display: block;margin-left:auto;margin-right:auto;width:60%;"><div class="slideshow-caption-text">Cylinder head (diameter: 473 mm)</div></div>
<a class="prev" onclick="plusSlides(-1, 0)">❮</a>
<a class="next" onclick="plusSlides(1, 0)">❯</a>
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/IMSOLD/out_01.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_02.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_03.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_04.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_05.gif" style="width:19.6%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/IMSOLD/out_06.gif" style="width:19.6%">
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<img src="img/img/visus/IMSOLD/out_09.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_10.gif" style="width:19.6%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/IMSOLD/out_11.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_12.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_13.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_14.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_15.gif" style="width:19.6%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/IMSOLD/out_16.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_17.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_18.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_19.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_20.gif" style="width:19.6%">
</div>
</div>
<div class="col-md-8 col-md-offset-2">
<div style="position:relative;padding-top:2px;">
<img src="img/img/visus/IMSOLD/out_21.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_22.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_23.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_24.gif" style="width:19.6%">
<img src="img/img/visus/IMSOLD/out_25.gif" style="width:19.6%">
</div>
</div>
<br>
<div class="col-md-8 col-md-offset-2">
<br>
<p class="text-justify">
Each scene was acquired with a calibrated setup consisting
of an industrial grade structured light RGB-D sensor (Zivid
2, with spatial resolution of 0.39mm at 700mm), a consumer grade active stereo RGB-D sensor (Realsense D415) and
an industrial RGB camera (FLIR camera with resolution
2048x1536), all the three rigidly mounted on a 6 DOF
robotic manipulator (UR10e from Universal Robots, with a
position repeatability of 0.05 mm). Each scene was acquired
from multiple viewpoints and with large observation distance
variations.
</p>
<br>
<image src="img/img/dataAcquisitionPipeline.png" style="width:100%">
</div>
</div>
<br>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Ground-truth annotations
</h3>
<p class="text-justify">
CEA-IMSOLD proposes a variety of challenges based on object
geometry, material, appearance and scale variation. Below
we show some examples of ground thruth annotations for some
of the objects in the dataset
</p>
<br>
<h4>
Industrial grade RGB-D sensor
</h4>
<div class="slideshow-container">
<div class="mySlides2">
<div class="custom-image-slider" id="customImageSlider">
<img class="slider-before" src="./img/img/hinge000002.jpg" alt="Before">
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<img class="slider-before" src="./img/img/000003cyl.jpg" alt="Before">
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<img class="slider-before" src="./img/img/engine_000095.png" alt="Before">
<img class="slider-after" src="./img/img/engine_000095_raw.png" alt="After">
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<img class="slider-before" src="./img/img/hinge000104.jpg" alt="Before">
<img class="slider-after" src="./img/img/hinge000104_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides2">
<div class="custom-image-slider" id="customImageSlider5">
<img class="slider-before" src="./img/img/000109cyl.jpg" alt="Before">
<img class="slider-after" src="./img/img/000109cyl_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides2">
<div class="custom-image-slider" id="customImageSlider6">
<img class="slider-before" src="./img/img/coude_000026.jpg" alt="Before">
<img class="slider-after" src="./img/img/coude_000026_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<a class="prev" onclick="plusSlides(-1, 1)">❮</a>
<a class="next" onclick="plusSlides(1, 1)">❯</a>
</div>
<style>
.slider-before, .slider-after {
user-select: none;
}
</style>
<script src="./js/slider.js"></script>
<script>
mySlider('customImageSlider');
mySlider('customImageSlider2');
mySlider('customImageSlider3');
mySlider('customImageSlider4');
mySlider('customImageSlider5');
mySlider('customImageSlider6');
</script>
</div>
<div class="col-md-8 col-md-offset-2">
<br>
<h4>
Consumer grade RGB-D sensor
</h4>
<div class="slideshow-container">
<div class="mySlides3">
<div class="custom-image-slider" id="customImageSlider7">
<img class="slider-before" src="./img/img/cyliders_rs_000065.png" alt="Before">
<img class="slider-after" src="./img/img/cyliders_rs_000065_raw.png" alt="After">
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</div>
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<img class="slider-before" src="./img/img/culasse_rs_000064.png" alt="Before">
<img class="slider-after" src="./img/img/culasse_rs_000064_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
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<img class="slider-before" src="./img/img/cardoor_rs_000067.png" alt="Before">
<img class="slider-after" src="./img/img/cardoor_rs_000067_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides3">
<div class="custom-image-slider" id="customImageSlider10">
<img class="slider-before" src="./img/img/engine_rs_000051.png" alt="Before">
<img class="slider-after" src="./img/img/engine_rs_000051_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides3">
<div class="custom-image-slider" id="customImageSlider11">
<img class="slider-before" src="./img/img/hinges_rs_000030.png" alt="Before">
<img class="slider-after" src="./img/img/hinges_rs_000030_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides3">
<div class="custom-image-slider" id="customImageSlider12">
<img class="slider-before" src="./img/img/sprayer_rs_000064.png" alt="Before">
<img class="slider-after" src="./img/img/sprayer_rs_000064_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<a class="prev" onclick="plusSlides(-1, 2)">❮</a>
<a class="next" onclick="plusSlides(1, 2)">❯</a>
</div>
<style>
.slider-before, .slider-after {
user-select: none;
}
</style>
<script src="./js/slider.js"></script>
<script>
mySlider('customImageSlider7');
mySlider('customImageSlider8');
mySlider('customImageSlider9');
mySlider('customImageSlider10');
mySlider('customImageSlider11');
mySlider('customImageSlider12');
</script>
</div>
<div class="col-md-8 col-md-offset-2">
<br>
<h4>
Industrial RGB camera
</h4>
<div class="slideshow-container">
<div class="mySlides4">
<div class="custom-image-slider" id="customImageSlider13">
<img class="slider-before" src="./img/img/culasse_flir_000082.png" alt="Before">
<img class="slider-after" src="./img/img/culasse_flir_000082_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides4">
<div class="custom-image-slider" id="customImageSlider14">
<img class="slider-before" src="./img/img/sodastream_000030.png" alt="Before">
<img class="slider-after" src="./img/img/sodastream_000030_raw.png" alt="After">
<div class="slider-handle"></div>
</div>
</div>
<div class="mySlides4">
<div class="custom-image-slider" id="customImageSlider15">
<img class="slider-before" src="./img/img/coudeandy_000081.png" alt="Before">
<img class="slider-after" src="./img/img/coudeandy_000081_raw.png" alt="After">
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</div>
</div>
<div class="mySlides4">
<div class="custom-image-slider" id="customImageSlider16">
<img class="slider-before" src="./img/img/hinge_flir_000030.png" alt="Before">
<img class="slider-after" src="./img/img/hinge_flir_000030_raw.png" alt="After">
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<img class="slider-before" src="./img/img/assembly_flir_000031.png" alt="Before">
<img class="slider-after" src="./img/img/assembly_flir_000031_raw.png" alt="After">
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</div>
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<div class="custom-image-slider" id="customImageSlider18">
<img class="slider-before" src="./img/img/cardoor_flir_000165.png" alt="Before">
<img class="slider-after" src="./img/img/cardoor_flir_000165_raw.png" alt="After">
<div class="slider-handle"></div>
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</div>
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</div>
<script src="./js/slideshow.js"></script>
<script>
showSlides(1, 0);
showSlides(1, 1);
showSlides(1, 2);
showSlides(1, 3);
</script>
<style>
.slider-before, .slider-after {
user-select: none;
}
</style>
<script src="./js/slider.js"></script>
<script>
mySlider('customImageSlider13');
mySlider('customImageSlider14');
mySlider('customImageSlider15');
mySlider('customImageSlider16');
mySlider('customImageSlider17');
mySlider('customImageSlider18');
</script>
</div>
</div>
<br>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Citation
</h3>
<div class="form-group col-md-10 col-md-offset-1">
<textarea id="bibtex" class="form-control" readonly>
@article{meden2024imsold,
title={Introducing CEA-IMSOLD: a Dataset for Multi-Scale Object Localization in Industry},
author={Meden, Boris and Vega, Emanuel Pablo and Mayran de Chamisso, Fabrice and Bourgeois, Steve },
journal={International Conference on Robotics and Automation (ICRA)},
year={2024}
}</textarea>
</div>
</div>
</div>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Contact
</h3>
<p class="text-justify">
For more information contact boris.meden[at]cea.fr
</p>
</div>
</div>
<div class="row">
<div class="col-md-8 col-md-offset-2">
<h3>
Acknowledgements
</h3>
<p class="text-justify">
The website template was borrowed from <a href="https://cea-list.github.io/RING-NeRF/"> RING-NeRF</a>, <a href="https://dorverbin.github.io/refnerf">Ref-NeRF</a> and <a href="https://nerfies.github.io/">nerfies</a>.
</p>
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