Dataset Overview
The WithVision Bin Picking Dataset consists of 50,000 synthetic scenes of YCB objects arranged in realistic bin picking scenarios, for use in computer vision and robotic manipulation training.
Images
Each scene contains the following 640x480 images:
| Filename | Description |
|---|---|
| rgb.png | main image |
| n.png | surface normal |
| seg.png | segmentation mask |
| bbox.png | bounding box visualization |
| depth.png | depth map |
| pose.png | 3D pose visualization |
Metadata
Each scene also includes a metadata.json file containing:
| Field | Description |
|---|---|
| scene_name | unique identifier for the scene |
| frame_id | frame number within the scene |
| camera | detailed camera parameters |
| objects | array of detected objects with annotations |
| class_name | YCB object class identifier |
| segmentation_color | RGB color values for object segmentation |
| bounding_box | 2D bounding box coordinates [x1, y1, x2, y2] |
| pose_world_to_object | 4x4 transformation matrix for 3D pose |
Download Dataset
NOTE: This dataset is in active development and is provided as an early preview for researcher feedback. The final dataset will be released in August 2025.
License
This dataset is released under the MIT License. You are free to use, modify, and distribute this dataset for both commercial and non-commercial purposes, subject to the following conditions:
- The original copyright notice and license must be included in all copies or substantial portions of the dataset.
- The dataset is provided "as is" without warranty of any kind.
- The authors and contributors are not liable for any damages arising from the use of this dataset.
For the full license text, please refer to the LICENSE file included with the dataset download.
Citation
If you use this dataset in your research, please cite:
@misc{ycb_bin_picking_2025,
title = {WithVision Bin Picking Dataset},
author = {Paton, Jeremy},
year = {2025},
publisher = {WithVision Inc.},
version = {1.0},
howpublished = {\url{https://withvision.ai/datasets/ycb-bin-picking}},
note = {Synthetic dataset for robotic bin picking based on YCB objects}
}
Contact
Questions? Please email jeremy@withvision.ai.