The MiniMarket80 Dataset for Evaluation of Unique Item Segmentation in Point Clouds

The effectiveness of deep learning methods in image segmentation has led to interest in their deployment for 3D point cloud segmentation, particularly in the context of pre-grasp identification of a unique object amongst distractors. However, existing 3D object datasets are not ideal for training and evaluation of these methods. Datasets developed for grasp planning are often CAD models that are too clean for sim-to-real transfer. Real-world datasets can lack texture information or have been collected using sets of objects and/or specialized sensor setups that are hard to reproduce. In this work, we introduce the MiniMarket80 dataset to address this gap.The dataset consists of 1200 colored point cloud partial views, each of 80 standard grocery objects, collected with widely used Realsense RGB-D cameras (D415 and D435) under variable lighting conditions. We also provide a complete pipeline to generate a per-object segmentation dataset from these partial views suitable for use in training. We use this dataset to evaluate 11 state-of-the-art point cloud segmentation methods. Only four of these are able to (partially) segment the target object in a real-world test, still producing significant false positives and false negatives.