PACE: A Large-Scale Dataset with Pose Annotations in Cluttered Environments

Pose estimation is a crucial task in computer vision and robotics, enabling the tracking and manipulation of objects in images or videos. While several datasets exist for pose estimation, there is a lack of large-scale datasets specifically focusing on cluttered scenes with occlusions. We introduce PACE (Pose Annotations in Cluttered Environments), a large-scale benchmark designed to advance the development and evaluation of pose estimation methods in cluttered scenarios. PACE consists of 54,945 frames with 257,673 annotations across 300 videos, covering 576 objects from 44 categories and featuring a mix of rigid and articulated items in cluttered scenes. To annotate the real-world data efficiently, we developed an innovative annotation system utilizing a calibrated 3-camera setup. We test state-of-the-art algorithms in PACE along two tracks: pose estimation, and object pose tracking, revealing the benchmark's challenges and research opportunities. Our code and data is available on https://github.com/qq456cvb/PACE.