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arXiv · 2509.09720

Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision

Akansel Cosgun·Lachlan Chumbley·Benjamin J. Meyer
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Abstract

This paper introduces the Australian Supermarket Object Set (ASOS), a comprehensive dataset comprising 50 readily available supermarket items with high-quality 3D textured meshes designed for benchmarking in robotics and computer vision applications. Unlike existing datasets that rely on synthetic models or specialized objects with limited accessibility, ASOS provides a cost-effective collection of common household items that can be sourced from a major Australian supermarket chain. The dataset spans 10 distinct categories with diverse shapes, sizes, and weights. 3D meshes are acquired by a structure-from-motion techniques with high-resolution imaging to generate watertight meshes. The dataset's emphasis on accessibility and real-world applicability makes it valuable for benchmarking object detection, pose estimation, and robotics applications.

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Akansel Cosgun, Lachlan Chumbley, Benjamin J. Meyer. 2025-09-09. Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision. https://arxiv.org/abs/2509.09720

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