GAS (Grasp Area Segmentation) dataset consists of 10089 RGB images of cluttered scenes grouped into 1121 grasp-area segmentation tasks. For each RGB image we provide a binary segmentation map with the graspable and non-graspable regions for every object in the scene. The dataset can be used for meta-training part-based grasp area estimation networks.
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ContactDB is a dataset of contact maps for household objects that captures the rich hand-object contact that occurs during grasping, enabled by use of a thermal camera. ContactDB includes 3,750 3D meshes of 50 household objects textured with contact maps and 375K frames of synchronized RGB-D+thermal images.
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GRAB is a dataset of full-body motions interacting and grasping 3D objects. It contains accurate finger and facial motions as well as the contact between the objects and body. It contains 5 male and 5 female participants and 4 different motion intents. The GRAB dataset also contains binary contact maps between the body and objects.
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