---
license: mit
---
We provide our physically-based renderings of the YCB-V object dataset randomized YCB-V (YCB-V-RAND) with **randomized texture**, **randomized material**, and **randomized lighting**, allowing to benchmark the influence of such variations on the task of 2D object detection and 6DoF object pose estimation. For more details on the dataset, please take a look on our paper referenced below.  

![Teaser Image](teaser.jpg)


If you find our work useful, please consider citing our work.  
```
@inproceedings{poellabauer2024NERF,
  title={Generalizing Neural Radiance Fields for Robust 6D Pose Estimation of Unseen Appearances}, 
  author={Thomas Pöllabauer and Wirth, Tristan and Weitz, Paul and Knauthe, Volker and Kuijper, Arjan and  Fellner, Dieter},
  series={Lecture Notes in Computer Science},
  booktitle={Proceedings of the 19th International Symposium on Visual Computing (ISCV24)},
  year={2024}
}
```