XYZ-IBD: A High-precision Bin-picking Dataset for Object 6D Pose Estimation Capturing Real-world Industrial Complexity

Welcome to the official repository of XYZ-IBD, a bin-picking dataset that captures real-world industrial complexity for 6D pose estimation.

🔥 Note in this repo, we provide the Docker usage for our bin-picking simulation rendering. The code is based on the BlenderProc.

📦 Dataset Access

• 🔗 Project Page: xyz-ibd.github.io/XYZ-IBD
• 🤗 Hugging Face: bop-benchmark/xyzibd
• 📄 Full Paper: Arxiv

🏆 Ongoing Challenges and Workshops

• BOP Challenge 2025 (Industrial Track)

• ICCV 2025 Worokshop - 10th International Workshop on Recovering 6D Object Pose (R6D)

• RICKY Challenge 2025 (Monocular Depth Track)

• ICCV 2025 Worokshop - TRICKY 2025: Transparent & Reflective objects In the wild Challenges

🚀 Baseline Implementations

We provide reference implementations to kick-start research and benchmarking. Please refer to the baseline repository for the running details.

🛠️ Data Processing & Evaluation

• 📊 BOP Toolkit Integration
  XYZ-IBD is prepared with BOP format(see here for the data format details), and is fully compatible with the bop_toolkit for:

  • Data loading and visualization
  • Evaluation on BOP Metrics

• 📊 2D Detection and 6D Pose Evaluation Server
  Submit your predictions for evaluation on the official BOP server:
  https://bop.felk.cvut.cz/login/?next=/sub_upload/

• 📊 Monocular Depth Evaluation
  Participate in monocular depth leaderboard on Codalab:
  https://codalab.lisn.upsaclay.fr/competitions/22870

Docker usage for our bin-picking simulation rendering

Build Docker

cd docker 
docker build -t "render_xyz_synthetic" .

Run Docker

docker run --gpus all render_xyz_synthetic
cd "examples\datasets\deep-tote"
### Modify the OUTPUT_DIR and OBJECT FILE in config.yaml to your custom path before run scripts!

### Generate the whole synthetic dataset for all objects
blenderproc run render.py --config=config.yaml
### Generate the synthetic dataset for specific object
blenderproc run custom.py --config=config_photoneo_qiuxiao1.yaml
### Post Process the synthetic dataset to BOP Format
blenderproc run gen_masks.py --config=config_photoneo_qiuxiao1.yaml

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Citation

If you find this dataset helpful, please cite this 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}, 
}

📫 Contact

For questions, issues, or collaboration inquiries, feel free to open an issue or reach out via the project page.