DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarios

In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust pose estimation models. This is largely attributed to the inherent challenges in accurately annotating object poses in dynamic scenes captured by moving cameras. To bridge this gap, this paper presents a novel dataset <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">DynOPETs</i> and a dedicated data acquisition and annotation pipeline tailored for object pose estimation and tracking in such unconstrained environments. Our efficient annotation method innovatively integrates pose estimation and pose tracking techniques to generate pseudo-labels, which are subsequently refined through pose graph optimization. The resulting dataset offers accurate pose annotations for dynamic objects observed from moving cameras. To validate the effectiveness and value of our dataset, we perform comprehensive evaluations using 19 state-of-the-art methods, demonstrating its potential to accelerate research in this challenging domain. The dataset will be made publicly available to facilitate further exploration and advancement in the field.