================================================================================ Huhb3D - Industrial-Grade Synthetic Dataset Commercial Sales Specification Version 1.0 | 2026-05-31 ================================================================================ 1. PRODUCT OVERVIEW -------------------------------------------------------------------------------- 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 -------------------------------------------------------------------------------- +---------------------------+------------------+---------------------+ | 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 -------------------------------------------------------------------------------- +-------------------------------+-----------------------------------------+ | 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 -------------------------------------------------------------------------------- +---------------------------+------------------+------------------+------------------+ | 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 -------------------------------------------------------------------------------- 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 -------------------------------------------------------------------------------- +-------------------+-------------------+-----------------------------------+ | 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 -------------------------------------------------------------------------------- - 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 -------------------------------------------------------------------------------- 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 -------------------------------------------------------------------------------- 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 ================================================================================