Mirage 18k Dataset

IROS 2026 Mirage 18k: Dataset for Glass Segmentation & Depth Estimation Mirage 18k is a novel, multi-task dataset comprising 18,353 manually annotated images across 38 unique indoor scenes, designed specifically for joint glass segmentation and glass-aware monocular depth estimation in robotics. It contains diverse real-world glass structures (indoor panes, frosted doors, windows, clear doors) with severe background clutter, saliency, and dynamic obstacles. Model Checkpoint:… See the full description on the dataset page:

Source: Hugging Face Hub (rtarun1/mirage18k). Metadata imported from the dataset’s Hub tags.