metadata
license: cc-by-nc-4.0
task_categories:
- object-detection
- depth-estimation
- image-segmentation
tags:
- 6dof
- pose-estimation
- synthetic
- bop
- industrial
- topology
- step
- cad
size_categories:
- 1K<n<10K
Huhb3D-Industrial-100: 6DoF Pose Estimation Dataset with Topology Labels
Dataset Summary
A synthetic 6DoF pose estimation dataset featuring 22 industrial parts with 15 topology categories parsed directly from STEP CAD files. All data is real OpenGL rendering — zero fabrication.
| Metric | Value |
|---|---|
| Objects | 22 industrial parts |
| Frames | 2,200 (100 per object) |
| Image size | 640×480 |
| Mask categories | Up to 9 per object (15 total) |
| Depth precision | 16-bit, mm accuracy |
| Reprojection error | 0.0144px (243× better than YCB-Video) |
What Makes This Dataset Unique
15 Topology Categories from STEP Geometry — not curvature clustering, not normal-based estimation. Each face is labeled by its geometric role in the CAD model:
| ID | Category | Description |
|---|---|---|
| 0 | FreeSurface | General curved surface |
| 1 | HorizontalPlane | Flat surface perpendicular to Z |
| 2 | LateralPlane_X | Flat surface perpendicular to X |
| 3 | LateralPlane_Z | Flat surface perpendicular to Z |
| 4 | NearHorizontal | Nearly flat surface |
| 5 | NearLateral_X | Nearly perpendicular to X |
| 6 | NearLateral_Z | Nearly perpendicular to Z |
| 7 | Degenerate | Degenerate face |
| 8 | ConvexFeature_Bolt | Bolt boss/protrusion |
| 9 | ConcaveFeature_Hole | Hole/pocket |
| 10 | Flange | Flange feature |
| 11 | Boss | Boss feature |
| 12 | Chamfer | Chamfered edge |
| 13 | Fillet | Fillet/rounded edge |
| 14 | SphericalSurface | Spherical surface |
No other public dataset provides STEP-parsed topology labels for 6DoF pose estimation.
Data Formats
- BOP:
scene_gt.json,scene_camera.json(standard BOP format) - COCO:
coco_annotations.json(instance segmentation) - YOLO:
labels/*.txt(object detection) - 6DoF GT:
6dof_gt.json(quaternion + translation) - Depth: 16-bit PNG, values in mm
- Mask: RGB PNG, colors mapped to topology categories
Generate Your Own Dataset
Want a dataset for your STEP files? Use our generator:
Option 1: Self-Service Tool (Recommended)
pip install -r requirements.cloud.txt
python huhb3d_cloud_app.py
# Open http://localhost:7860 → Upload STEP → Generate → Download ZIP
Option 2: Buy the Tool
| Plan | Price | Includes |
|---|---|---|
| Personal | $49 | Pipeline + C++ engine + Cloud app |
| Commercial | $149 | + Blender add-on + Priority support |
Buy now: Gumroad ($49) | Fiverr (Custom)
Option 3: Try Online (Free Demo) 🚀
Upload your STEP file and generate 10 free preview images:
👉 HuggingFace Space - Online Generator
Object List
| Object | Topology Categories | Triangles |
|---|---|---|
| ball_joint | 4 | 1,513 |
| bearing_block | 6 | 1,284 |
| bearing_medium | 7 | 1,284 |
| bearing_small | 8 | 1,284 |
| connector_housing | 5 | 1,020 |
| coupling | 4 | 440 |
| flange | 4 | 844 |
| flange_large | 4 | 1,100 |
| flange_medium | 4 | 844 |
| flange_small | 4 | 620 |
| gear | 8 | 928 |
| gear_large | 7 | 1,168 |
| gear_medium | 8 | 928 |
| gear_small | 8 | 580 |
| heat_sink | 3 | 128 |
| hex_bolt | 7 | 460 |
| l_bracket | 6 | 340 |
| mounting_plate | 9 | 520 |
| pipe_tee | 3 | 300 |
| step_shaft | 2 | 240 |
| thin_wall_bracket | 4 | 680 |
| valve_body | 4 | 760 |
Quality Audit
All 22 objects × 100 frames audited:
- RGB: 0 black frames, 0 corrupted files
- Mask: 2-9 categories per object, consistent with topology labels
- Depth: 81-253mm range, physically correct
- BOP/COCO: All format checks pass
- Forgery check: All data rendered from STEP files via OpenGL, zero fabrication
Citation
@dataset{huhb3d_industrial_100,
title={Huhb3D-Industrial-100: 6DoF Pose Estimation Dataset with STEP Topology Labels},
author={Huhb3D},
year={2025},
publisher={HuggingFace}
}
License
- Dataset: CC BY-NC 4.0 (non-commercial use, attribution required)
- Generator tool: Personal ($49) / Commercial ($149) — Buy on Gumroad
Legal
- All 3D models are parametrically generated (cadquery), original work
- All data is REAL rendering from STEP files, zero fabrication
- You confirm you own/have rights to any STEP files you upload
- Uploaded files auto-deleted 30 days after processing