---
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)

```bash
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)](https://gumroad.com/l/huhb3d-6dof-generator) | [Fiverr (Custom)](https://www.fiverr.com/championhuhb)

### Option 3: Try Online (Free Demo) 🚀

Upload your STEP file and generate 10 free preview images:

**👉 [HuggingFace Space - Online Generator](https://huggingface.co/spaces/Hgodwarrior/huhb3d-6dof-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

```bibtex
@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](https://gumroad.com/l/huhb3d-6dof-generator)

## 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