---
license: cc-by-4.0
pretty_name: IPD
---

# BOP DATASET: IPD


## Dataset parameters

* Objects: 10
* Object models: Mesh models
* Modalities: Three cameras are placed in each scene. Image, depth, angle of linear 
                polarization (AOLP), and degree of linear polarization (DOLP) data 
                are rendered for each camera.


## Training PBR images splits

Scenes 000000–000004 contain objects 0, 8, 18, 19, 20.
Scenes 000005–000009 contain objects 1, 4, 10, 11, 14.


## Dataset format

General information about the dataset format can be found in:
https://github.com/thodan/bop_toolkit/blob/master/docs/bop_datasets_format.md


## References

[1] Agastya Kalra, Guy Stoppi, Dmitrii Marin, Vage Taamazyan, Aarrushi Shandilya, 
    Rishav Agarwal, Anton Boykov, Tze Hao Chong, Michael Stark; Proceedings of the 
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, 
    pp. 22691-22701