TransBiolab: A Real-World Multi-View Dataset of Cluttered Transparent Biomedical Objects

TL;DR - TransBiolab is a large real-world RGB-D dataset for perceiving cluttered, transparent biomedical labware from calibrated multi-view sequences. It targets segmentation, depth, pose estimation, and robotic manipulation under realistic occlusion and viewpoint changes.

• Contains 161,315 frames from 98 scenes and 1.03 million instance annotations across 15 object types.
• Provides 6D poses, full and visible masks, depth data, and per-frame camera calibration.
• Organizes difficulty by object category, object count, and camera viewpoint.
• Defines benchmarks for segmentation, depth estimation and completion, 6D pose estimation, and system-level robot manipulation.