The Few-Shot Object Learning (FewSOL) dataset can be used for object recognition with a few images per object. It contains 336 real-world objects with 9 RGB-D images per object from different views. Object segmentation masks, object poses and object attributes are provided. In addition, synthetic images generated using 330 3D object models are used to augment the dataset. FewSOL dataset can be used to study a set of few-shot object recognition problems such as classification, detection and segmentation, shape reconstruction, pose estimation, keypoint correspondences and attribute recognition.
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A new dataset with significant occlusions related to object manipulation.
The UAVA,<i>UAV-Assistant</i>, dataset is specifically designed for fostering applications which consider UAVs and humans as cooperative agents. We employ a real-world 3D scanned dataset (<a href="https://niessner.github.io/Matterport/">Matterport3D</a>), physically-based rendering, a gamified simulator for realistic drone navigation trajectory collection, to generate realistic multimodal data both from the user’s exocentric view of the drone, as well as the drone’s egocentric view.
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Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often overlooked question is how to generate the grasps that make up these data sets. In this paper, we review, classify, and compare different grasp sampling strategies. Our evaluation is based on a fine-grained discretization of SE(3) and uses physics-based simulation to evaluate the quality and robustness of the corresponding parallel-jaw grasps. Specifically, we consider more than 1 billion grasps for each of the 21 objects from the YCB data set. This dense data set lets us evaluate existing sampling schemes w.r.t. their bias and efficiency. Our experiments show that some popular sampling schemes contain significant bias and do not cover all possible ways an object can be grasped.
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Details about the creation of the dataset can be seen in https://arxiv.org/abs/2110.06139.
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KITTI-6DoF is a dataset that contains annotations for the 6DoF estimation task for 5 object categories on 7,481 frames.
The Robot Tracking Benchmark (RTB) is a synthetic dataset that facilitates the quantitative evaluation of 3D tracking algorithms for multi-body objects. It was created using the procedural rendering pipeline BlenderProc. The dataset contains photo-realistic sequences with HDRi lighting and physically-based materials. Perfect ground truth annotations for camera and robot trajectories are provided in the BOP format. Many physical effects, such as motion blur, rolling shutter, and camera shaking, are accurately modeled to reflect real-world conditions. For each frame, four depth qualities exist to simulate sensors with different characteristics. While the first quality provides perfect ground truth, the second considers measurements with the distance-dependent noise characteristics of the Azure Kinect time-of-flight sensor. Finally, for the third and fourth quality, two stereo RGB images with and without a pattern from a simulated dot projector were rendered. Depth images were then recons
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