Published June 13, 2023 | Version 1.0
Dataset Open

Parcel3D - A Synthetic Dataset of Damaged and Intact Parcel Images with 2D and 3D Annotations

  • 1. FZI Research Center for Information Technology
  • 2. Karlsruhe Institute of Technology


Synthetic dataset of over 13,000 images of damaged and intact parcels with full 2D and 3D annotations in the COCO format. For details see our paper and for visual samples our project page.

Relevant computer vision tasks:

  • bounding box detection
  • classification
  • instance segmentation
  • keypoint estimation
  • 3D bounding box estimation
  • 3D voxel reconstruction
  • 3D reconstruction


The dataset is for academic research use only, since it uses resources with restrictive licenses.
For a detailed description of how the resources are used, we refer to our paper and project page.

Licenses of the resources in detail:

You can use our textureless models (i.e. the obj files) of damaged parcels under CC BY 4.0 (note that this does not apply to the textures).


If you use this resource for scientific research, please consider citing

    author    = {Naumann, Alexander and Hertlein, Felix and D\"orr, Laura and Furmans, Kai},
    title     = {Parcel3D: Shape Reconstruction From Single RGB Images for Applications in Transportation Logistics},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
    month     = {June},
    year      = {2023},
    pages     = {4402-4412}


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