CMU IKEA Kitchen Object Dataset

This dataset contains 432 images of 9 non-textured kitchen objects from IKEA. We used a GoPro Hero wearable camera mounted on the chest while performing regular household tasks to collect the dataset. Videos were collected in various kitchen environments and keyframes were automatically selected from the video sequences so the dataset would be as uncontrived as possible. Objects are visible under a wide range of viewpoints, scales, illumination conditions and clutter, making this a very challenging dataset. Since the dataset is unfiltered, we provide groundtruth masks for all object instances regardless of scale change, occlusion or contrast. For each image, we also provide the scale, occlusion and contrast statistics of each object.

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