RAD: A Dataset and Benchmark for Real-Life Anomaly Detection with Robotic Observations

Kaichen Zhou, Yang Cao[†], Taewhan Kim[†], Hao Zhao, Hao Dong, Kai Ming Ting, and Ye Zhu

[†] Equal Contribution

This repository provides the official PyTorch implementation code, data and models of the RAD.

[Link to paper] [Dataset with mask] [Dataset without mask]

Our paper has been submitted to "International Journal of Computer Vision".

The main contributions are summarized as follows:

• Dataset Introduction: Real-world multi-view anomaly dataset with robotic observations.
• NAD Challenge: Proposed the Noisy-Pose-Based Anomaly Detection (NAD) challenge.
• Preprocessing Methods: Introduced data preprocessing techniques to handle raw data.
• Algorithm Evaluation: Assessed multiple anomaly detection algorithms on the dataset.

1. Description of RAD dataset

1.1 Anomaly types

To ensure the dataset's utility in evaluating robustness against common industrial defects, we simulated four prevalent classes of anomalies as follows: Scratched, Missing, Stained and Squeezed.

1.2 Data Statistics

The RAD dataset comprises a total of 4287 samples, distributed across 13 distinct categories that encompass multiple domains, including kitchenware, toys, and daily necessities.

1.3 Data Directory

To facilitate the testing of baselines, we use the same data structure as in PAD and MVTec. You could download our dataset with RAD with Mask and RAD without Mask. In this version, we provide all image with the help of ground truth mask.

RAD
 └ binderclip                   ---Object class folder.
   └ train                      ---Training set, fit your model on this data.
     └ good                     ---a set of defect-free training images.
       └ num.png
   └ test                       ---a test set of images.
     └ missing                  ---images with missing.
       └ num.png
     └ scratched                ---images with scratched. 
     └ squeezed                 ---images with squeezed. 
     └ stained                  ---images with stained. 
     └ good                     ---images without defects.
   └ ground_truth               ---GT segmentation mask for various kinds of defects.
     └ missing
       └ num_mask.png
     └ scratched
     └ squeezed
     └ stained
   └ transforms.json            ---Provides information related to the camera angle and image transformation matrix for training.
 └ box
    ...

2. Description of Pose Estimation & 3D Reconstruction

2.1 Pipeline

Considering the challenges of the NAD problem, directly applying 3D-based anomaly detection methods introduces significant uncertainty. Current multi-view methods, such as MVSNeRF, NEUS, and 3D Gaussian, depend heavily on accurate pose estimation. To address this issue, we propose a pipeline to estimate the pose from different views, enabling multi-view based anomaly detection algorithms.

2.2 Pipeline

We provide an example about our proposed data preprocess pipeline, you could test it with our provided subset of our dataset toy example. And place it under current directory.

Using proposed preprocessing methods to enchance pose estimation quality.

python pose_estimation.py

Transfer estimated pose to format required for 3D Gaussian Splatting.

camera_transfer.py

Citation

If you find our work useful or interesting, please cite our paper:

@article{zhou2024rad,
  title={RAD: A Dataset and Benchmark for Real-Life Anomaly Detection with Robotic Observations},
  author={Zhou, Kaichen and Cao, Yang and Kim, Taewhan and Zhao, Hao and Dong, Hao and Ting, Kai Ming and Zhu, Ye},
  journal={arXiv preprint arXiv:2410.00713},
  year={2024}
}