XYZ-IBD
A High-precision Bin-picking Dataset
for Object 6D pose estimation and Monocular Depth Estimation
A High-precision Bin-picking Dataset
for Object 6D pose estimation and Monocular Depth Estimation
The XYZ Industrial Bin Picking Dataset (XYZ-IBD) is a bin-picking dataset for 6D pose estimation and depth estimation, capturing real-world industrial-grade complexity through challenging geometries, materials, occlusions and clutter. The dataset represents authentic robotic grasping scenarios with millimeter-accurate annotations.
XYZ-IBD Scenes
15 highly-reflective industrial parts with various shapes and sizes (diameters ranging 5cm~30cm), presenting challenging occlusions and clutter
75 scenes, 22k RGB/grayscale/depth images and 91k millimeter-level 6D pose annotations, 24 instances per scene on average, with up to 60 instances in some scenes
XYZ Robotics DLP structured light, Photoneo PhoXi laser scanner, RealSense D415 stereo camera, that are mounted on a industrial-grade FANUC M10iD/8L robotic arm
Realistic bin-picking scene simulation, with multiple instances in each scene, rendered with BlenderProc, providing 50k+ synthetic training images
The XYZ-IBD dataset is part of the Benchmark for 6D Object Pose Estimation (BOP) and serves as one of the official BOP-Industrial datasets for the BOP Challenge 2025. The XYZ-IBD dataset is evaluated on model-based 2D and 6D object detection tasks, following the BOP Challenge 2025 metrics and is hosted on the official BOP-Industrial Leaderboard. The challenge will also be featured at the ICCV 2025 R6D Workshop.
The XYZ-IBD dataset is also associated with the Transparent & Reflective Objects In the Wild Challenges (TRICKY) for the Monocular Depth Estimation task. Evaluation on XYZ-IBD for this task follows the TRICKY 2025 metrics and is hosted on the official TRICKY 2025 Leaderboard, which will be featured as part of the TRICKY Workshop at ICCV 2025.
The pose estimation dataset is available for download at the following links. You can also find the dataset in both the BOP website or HuggingFace.
The depth estimation dataset is available for download at the following links. You can also find the dataset in the TRICKY website.
Scene Examples
Synthetic Scenes
Real industrial parts
CAD models of the industrial parts
Hardware Setup
XYZ-IBD is licensed under the CC BY-NC-SA 4.0 license. Custom license available upon request, if you are interested in using the dataset for commercial purposes, please contact us.
If you find this dataset helpful, please cite the following paper:
@misc{huang2025xyzibdhighprecisionbinpickingdataset,
title={XYZ-IBD: High-precision Bin-picking Dataset for Object 6D Pose Estimation Capturing Real-world Industrial Complexity},
author={Junwen Huang and Jizhong Liang and Jiaqi Hu and Martin Sundermeyer and Peter KT Yu and Nassir Navab and Benjamin Busam},
year={2025},
eprint={2506.00599},
archivePrefix={arXiv},
primaryClass={cs.CV},
url={https://arxiv.org/abs/2506.00599},
}
For any questions or issues regarding the dataset, please contact:
For commercial licensing inquiries, please include details about your intended use case.