Datasets:
Formats:
text
Languages:
English
Size:
10K - 100K
Tags:
glass-segmentation
monocular-depth-estimation
robotics
transparent-surface-perception
3d-mapping
image
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README.md
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pretty_name: Mirage 18k Dataset
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# Mirage 18k: Dataset for Glass Segmentation & Depth Estimation
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**Mirage 18k** is a novel, multi-task dataset comprising **18,353 manually annotated images** across **38 unique indoor scenes**, designed specifically for joint glass segmentation and glass-aware monocular depth estimation in robotics.
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* **Project Page:** [silica-mirage.github.io](https://silica-mirage.github.io/)
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* **Example Data:** [GitHub `example/` Directory](https://github.com/rtarun1/Silica/tree/main/example)
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---
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## Dataset Acquisition & Overview
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**Quick Test:** To run quick standalone inference on a sample subset without downloading the full dataset, check out the sample images, raw depth, and camera intrinsic files available directly in our [GitHub `example/` folder](https://github.com/rtarun1/Silica/tree/master/example).
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## Citation
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If you use the Mirage 18k dataset in your research, please cite:
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```bibtex
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@inproceedings{tarun2026silica,
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title={SILICA: Repurposing Diffusion Priors for Joint Glass Segmentation and Depth Estimation},
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author={R., Tarun and Verma, Anuj and Nanwani, Laksh and Garg, Sourav and Krishna, K. Madhava},
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booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
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year={2026},
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note={Accepted for publication}
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}
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```
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pretty_name: Mirage 18k Dataset
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# [IROS 2026] Mirage 18k: Dataset for Glass Segmentation & Depth Estimation
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**Mirage 18k** is a novel, multi-task dataset comprising **18,353 manually annotated images** across **38 unique indoor scenes**, designed specifically for joint glass segmentation and glass-aware monocular depth estimation in robotics.
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* **Project Page:** [silica-mirage.github.io](https://silica-mirage.github.io/)
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* **Example Data:** [GitHub `example/` Directory](https://github.com/rtarun1/Silica/tree/main/example)
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This work has been accepted for publication at IROS 2026, as part of the work _SILICA: Repurposing Diffusion Priors for Joint Glass Segmentation and Depth Estimation_.
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---
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## Dataset Acquisition & Overview
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**Quick Test:** To run quick standalone inference on a sample subset without downloading the full dataset, check out the sample images, raw depth, and camera intrinsic files available directly in our [GitHub `example/` folder](https://github.com/rtarun1/Silica/tree/master/example).
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