Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators

Jiri Sedlar, Karla Stepanova*, Radoslav Skoviera, Jan K. Behrens, Matus Tuna, Gabriela Sejnova, Josef Sivic, Robert Babuska

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

14 Downloads (Pure)


This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects, which is a common case in imitation learning, where the object is typically partially occluded by the manipulating hand. Currently, there is a lack of datasets that would enable the development of robust 6D pose estimation methods for these conditions. To overcome this problem, we collect a new dataset (Imitrob) aimed at 6D pose estimation in imitation learning and other applications where a human holds a tool and performs a task. The dataset contains image sequences of nine different tools and twelve manipulation tasks with two camera viewpoints, four human subjects, and left/right hand. Each image is accompanied by an accurate ground truth measurement of the 6D object pose obtained by the HTC Vive motion tracking device. The use of the dataset is demonstrated by training and evaluating a recent 6D object pose estimation method (DOPE) in various setups.

Original languageEnglish
Pages (from-to)2788-2795
JournalIEEE Robotics and Automation Letters
Issue number5
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • 6D object pose estimation
  • computer vision for automation
  • Learning from demonstration
  • perception for grasping and manipulation


Dive into the research topics of 'Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators'. Together they form a unique fingerprint.

Cite this