Published October 25, 2017 | Version v1
Dataset Open

The RBO Dataset of Articulated Objects and Interactions

  • 1. Robotics and Biology Laboratory, Technische Universität Berlin

Description

The RBO dataset of articulated objects and interactions is a collection of 358 RGB-D video sequences (67:18 minutes) of humans manipulating 14 articulated objects under varying conditions (light, perspective, background, interaction). All sequences are annotated with ground truth of the poses of the rigid parts and the kinematic state of the articulated object (joint states) obtained with a motion capture system. We also provide complete kinematic models of these objects (kinematic structure and three-dimensional textured shape models). In 78 sequences the contact wrenches during the manipulation are also provided.

For more information, please refer to https://tu-rbo.github.io/articulated-objects/

Files

interactions_index.csv

Files (122.5 GB)

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