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| Huhb3D - Industrial-Grade Synthetic Dataset | |
| Commercial Sales Specification | |
| Version 1.0 | 2026-05-31 | |
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| 1. PRODUCT OVERVIEW | |
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| Huhb3D is an industrial-grade synthetic dataset designed for training | |
| and evaluating 6DoF pose estimation, instance-level segmentation, and | |
| CAD topology understanding models. Unlike generic synthetic datasets, | |
| Huhb3D provides pixel-perfect ground truth with sub-pixel reprojection | |
| error (0.014px), verified by 62 independent quality checks. | |
| Three-in-One Ground Truth: | |
| - 6DoF Pose Estimation GT (BOP format) | |
| - Instance Segmentation GT (COCO + YOLO format) | |
| - STEP Topology GT (Feature type per-pixel labeling) | |
| 2. INDUSTRIAL-GRADE PRECISION GUARANTEE | |
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| +---------------------------+------------------+---------------------+ | |
| | Metric | Huhb3D | Industry Standard | | |
| +---------------------------+------------------+---------------------+ | |
| | Reprojection Error | 0.014 px | < 2.0 px | | |
| | Camera Intrinsics (fx-fy) | 0.000000 | < 0.01 | | |
| | Rotation Matrix Det | 1.0 +/- 0.000001 | |det-1| < 0.01 | | |
| | Depth Scale Accuracy | 1.0 (exact) | depth_scale=1.0 | | |
| | Depth Precision | 1mm (uint16) | 1-10mm typical | | |
| | Near/Far Ratio | 400:1 | 100-1000:1 | | |
| | Coordinate Convention | OpenCV standard | OpenCV or OpenGL | | |
| | Anti-aliased Masks | No (clean edges) | Often overlooked | | |
| +---------------------------+------------------+---------------------+ | |
| Key precision features: | |
| - Correct OpenGL->OpenCV coordinate transform (Y/Z sign flip) | |
| - Depth formula: depth_mm = (near*far)/(far - z_buf*(far-near)) | |
| - Rounding (not truncation) for depth quantization | |
| - Anti-aliasing disabled during mask rendering for pixel-perfect IDs | |
| - Dynamic near/far plane based on camera distance for optimal precision | |
| 3. LEGAL COMPLIANCE & COMMERCIAL SAFETY | |
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| +-------------------------------+-----------------------------------------+ | |
| | Risk Category | Huhb3D Solution | | |
| +-------------------------------+-----------------------------------------+ | |
| | 3D Model Copyright | 100% original, cadquery-generated | | |
| | CAD Kernel License | OpenCASCADE LGPL-2.1 (dynamic link OK) | | |
| | CAD Library License | cadquery Apache-2.0 (permissive) | | |
| | Dataset License | CC-BY-4.0 (commercial use allowed) | | |
| | Source Code License | MIT (fully permissive) | | |
| | AGPL Contamination | None - fully migrated from AGPL to MIT | | |
| | COCO License Field | CC-BY-4.0 (not AGPL) | | |
| | Watermark / Restrictions | None | | |
| | Third-party Model Usage | Zero - all models procedurally generated | | |
| +-------------------------------+-----------------------------------------+ | |
| The entire pipeline from model generation to data rendering uses only | |
| permissively licensed components. No proprietary or copyleft-contaminated | |
| assets are included. The dataset can be used for commercial training, | |
| fine-tuning, and redistribution without legal risk. | |
| 4. COMPETITIVE ADVANTAGES vs MARKET ALTERNATIVES | |
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| +---------------------------+------------------+------------------+------------------+ | |
| | Feature | Huhb3D | YCB-Video | T-LESS | | |
| +---------------------------+------------------+------------------+------------------+ | |
| | 6DoF GT Precision | 0.014px reproj | ~1-3px | ~1-2px | | |
| | Instance Seg GT | Yes (COCO+YOLO) | No | No | | |
| | Feature Type GT | Yes (12 types) | No | No | | |
| | Depth Format | uint16 mm | float .mat | uint16 mm | | |
| | Coordinate Convention | OpenCV verified | Mixed | OpenCV | | |
| | Model Origin | Original CAD | Real objects | Real objects | | |
| | STEP Topology | Yes | No | No | | |
| | License | CC-BY-4.0 | Research only | Research only | | |
| | Commercial Use | Allowed | Restricted | Restricted | | |
| | Customizable Pipeline | Yes (open) | No | No | | |
| | Anti-aliasing Artifacts | Eliminated | Present | Present | | |
| | Depth Scale Consistency | Verified 1.0 | Varies | Varies | | |
| +---------------------------+------------------+------------------+------------------+ | |
| vs Generic Synthetic Tools (BlenderProc, etc.): | |
| - Huhb3D provides verified industrial-grade precision out-of-the-box | |
| - No need to manually debug coordinate conventions or depth formulas | |
| - Feature-type GT enables topology-aware training (unique in market) | |
| - One-click pipeline from model generation to packaged dataset | |
| 5. DATASET CONTENTS | |
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| 20 industrial objects across 8 categories: | |
| - Flange (4 variants: default, small, medium, large) | |
| - Gear (4 variants: default, small, medium, large) | |
| - Bearing (3 variants: default, small, medium) | |
| - Bolt, Bracket, Connector, Coupling, Heat Sink | |
| - Mounting Plate, Pipe Tee, Shaft, Valve Body | |
| Per-object data: | |
| - RGB images (800x600, 24-bit PNG) | |
| - Depth maps (800x600, 16-bit uint16 PNG, mm units) | |
| - Semantic segmentation masks (RGB-encoded feature types) | |
| - Instance segmentation masks (RGB=InstanceID,FeatureType,FeatureIdx) | |
| - BOP scene_camera.json + scene_gt.json | |
| - COCO semantic + instance annotations | |
| - YOLO detection + segmentation + instance labels | |
| - Feature type legend (12 feature types) | |
| 6. COMPATIBILITY | |
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| +-------------------+-------------------+-----------------------------------+ | |
| | Platform | Status | Notes | | |
| +-------------------+-------------------+-----------------------------------+ | |
| | OpenCV | Fully Compatible | Standard cam_K, R_m2c, t_m2c | | |
| | ROS/ROS2 | Fully Compatible | sensor_msgs/Image uint16 depth | | |
| | Blender | Compatible | Import via Python script | | |
| | PyTorch | Fully Compatible | Standard PNG + JSON loading | | |
| | TensorFlow | Fully Compatible | Standard PNG + JSON loading | | |
| | BOP Toolkit | Fully Compatible | Standard BOP format | | |
| | COCO API | Fully Compatible | Standard COCO with RLE | | |
| | YOLOv5/v8/v11 | Fully Compatible | Standard YOLO label format | | |
| | Unity Perception | Compatible | Requires format adapter | | |
| | Isaac Sim | Compatible | Requires format adapter | | |
| +-------------------+-------------------+-----------------------------------+ | |
| 7. USE CASES | |
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| - Industrial robotic bin picking (6DoF pose estimation) | |
| - Quality inspection (feature-type segmentation) | |
| - Assembly verification (instance-level segmentation) | |
| - Sim2Real transfer research (domain randomization ready) | |
| - CAD model retrieval (STEP topology matching) | |
| - Multi-task learning (6DoF + segmentation + topology) | |
| 8. PRICING & LICENSING | |
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| License: CC-BY-4.0 | |
| - Commercial use: Allowed | |
| - Redistribution: Allowed with attribution | |
| - Modification: Allowed | |
| - No warranty: As-is | |
| Attribution requirement: | |
| "Huhb3D v1.0, Industrial-Grade Synthetic Dataset, CC-BY-4.0" | |
| Custom dataset generation services available: | |
| - Custom object categories and variants | |
| - Higher resolution (up to 4K) | |
| - Multi-object scenes with occlusion | |
| - Domain randomization (textures, lighting, backgrounds) | |
| - Real background compositing for Sim2Real | |
| 9. TECHNICAL SPECIFICATIONS | |
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| Rendering Engine: OpenGL 3.3 Core Profile | |
| Depth Buffer: 24-bit (float), converted to uint16 mm | |
| Camera Model: Pinhole with per-frame FOV jitter (+/-3 deg) | |
| Camera Distance: 800mm (0.8m, industrial inspection range) | |
| Near/Far Planes: 40mm / 16000mm (400:1 ratio) | |
| Depth Precision: 1mm at object distance | |
| Mask Anti-aliasing: Disabled (pixel-perfect instance IDs) | |
| Coordinate System: OpenCV (Y-down, Z-forward) | |
| Model Unit: Millimeters (mm) | |
| ================================================================================ | |
| Contact: Huhb3D | |
| License: CC-BY-4.0 | |
| Version: 1.0.0 | |
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