RGB-D dataset for 6D pose estimation of industrial components/tools BOP format: This dataset fully complies with the BOP format 5 objects commonly found in an industrial assembly environment: The objects are symmetric and textureless presenting challenges for 6D pose estimation. Data acquisition with an Intel RealSense D455 camera: The dataset was captured at a resolution of 640×480. Both training and test images were collected under controlled conditions. Training images (4,107 in total): 1361 synthetic images, 2.746 real including scenes with individual and multiple objects are depicted Test images (1,354 in total): 1354 real test images. The photorealistic synthetic images were generated using a custom OpenGL-based implementation: 6DL-PoseGenerator [1] [1] Pateraki, M., Sapoutzoglou, P., Lourakis, M.I.: Crane spreader pose estimation from a single view. In: Proceedings of the 18th International Joint Conference on Computer Vision, vol. 5, pp. 796-805. SCITEPRESS (2023)