The RBO dataset of articulated objects and interactions
The RBO dataset of articulated objects and interactions
复制标题
铰接对象和交互的 RBO 数据集
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
O. Brock
中科院分区：
文献类型：
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作者：
Roberto Martín;Clemens Eppner;O. Brock
我们提出了一个数据集，其中包含人类环境中常见的14个铰接对象的模型，以及记录人类与它们交互的RGB-D视频序列和扳手。358个交互序列在不同的实验条件下（交互类型、照明、视角和背景），总共进行了67分钟的人工操作。与对象的每个相互作用都用其刚性部件的地面真实姿态和由运动捕获系统获得的运动状态来注释。对于78个序列（25分钟）的子集，我们还测量了相互作用扳手。对象模型包含每个链接及其运动约束的纹理三维三角形网格。我们提供Python脚本来下载和可视化数据。这些数据可在https://turbo.github.io/articulated-objects/上查阅，并在https://zenodo.org/record/1036660/上托管。
We present a dataset with models of 14 articulated objects commonly found in human environments and with RGB-D video sequences and wrenches recorded of human interactions with them. The 358 interaction sequences total 67 minutes of human manipulation under varying experimental conditions (type of interaction, lighting, perspective, and background). Each interaction with an object is annotated with the ground-truth poses of its rigid parts and the kinematic state obtained by a motion-capture system. For a subset of 78 sequences (25 minutes), we also measured the interaction wrenches. The object models contain textured three-dimensional triangle meshes of each link and their motion constraints. We provide Python scripts to download and visualize the data. The data are available at https://turbo.github.io/articulated-objects/ and hosted at https://zenodo.org/record/1036660/.
DOI：
10.1109/icra.2016.7487714
发表时间：
2016-05
期刊：
2016 IEEE International Conference on Robotics and Automation (ICRA)
影响因子：
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作者：
R. M. Martin;S. Höfer;O. Brock
通讯作者：
R. M. Martin;S. Höfer;O. Brock