ABO: Dataset and Benchmarks for Real-World 3D Object Understanding

We introduce Amazon-Berkeley Objects (ABO), a new large-scale dataset of product images and 3D models corresponding to real household objects. We use this realistic, object-centric 3D dataset to measure the domain gap for single-view 3D reconstruction networks trained on synthetic objects. We also use multi-view images from ABO to measure the robustness of state-of-the-art metric learning approaches to different camera viewpoints. Finally, leveraging the physically-based rendering materials in ABO, we perform single- and multi-view material estimation for a variety of complex, real-world geometries. The full dataset is available for download at https://amazon-berkeley-objects.s3.amazonaws.com/index.html.