Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and regression of textural surfaces. We present a novel sensor design to acquire multidimensional texture information. The surface texture's roughness and hardness were measured experimentally using sweeping and dabbing. The data is made available to the research community for further advancing texture perception studies.
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ISOD contains 2,000 manually labelled RGB-D images from 20 diverse sites, each featuring over 30 types of small objects randomly placed amidst the items already present in the scenes. These objects, typically ≤3cm in height, include LEGO blocks, rags, slippers, gloves, shoes, cables, crayons, chalk, glasses, smartphones (and their cases), fake banana peels, fake pet waste, and piles of toilet paper, among others. These items were chosen because they either threaten the safe operation of indoor mobile robots or create messes if run over.
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