{"paper":{"title":"PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objects","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Benjamin Busam, HyunJun Jung, Lorenzo Garattoni, Nassir Navab, Pengyuan Wang, Rahul Parthasarathy Srikanth, Siyuan Shen, Sven Meier, Yitong Li","submitted_at":"2022-05-18T09:21:09Z","abstract_excerpt":"Object pose estimation is crucial for robotic applications and augmented reality. Beyond instance level 6D object pose estimation methods, estimating category-level pose and shape has become a promising trend. As such, a new research field needs to be supported by well-designed datasets. To provide a benchmark with high-quality ground truth annotations to the community, we introduce a multimodal dataset for category-level object pose estimation with photometrically challenging objects termed PhoCaL. PhoCaL comprises 60 high quality 3D models of household objects over 8 categories including hig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.08811","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2205.08811/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}