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.
@article{arxiv.2509.09720,
title = {Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision},
author = {Akansel Cosgun and Lachlan Chumbley and Benjamin J. Meyer},
journal= {arXiv preprint arXiv:2509.09720},
year = {2025}
}