Yale-CMU-Berkeley dataset for robotic manipulation research:
Citations
413 citations
Cites background from "Yale-CMU-Berkeley dataset for robot..."
...Some datasets [36, 5] are captured in controlled environment which might greatly differ from real-world scenes....
[...]
...Prior to our work, there are also a few datasets of realworld object scans [10, 8, 5] but most are small in scale and are not suitable for training object classification networks, which often have thousands of parameters....
[...]
253 citations
Cites background from "Yale-CMU-Berkeley dataset for robot..."
...It comprises 21 objects taken from the YCB dataset [5, 4], which are of diverse sizes and with different degrees of texture....
[...]
244 citations
Cites background from "Yale-CMU-Berkeley dataset for robot..."
...There are 21 objects in the dataset, which are taken from the YCB dataset [35] and are publicly available for purchase....
[...]
234 citations
234 citations
Cites methods from "Yale-CMU-Berkeley dataset for robot..."
...We select 32 objects that are suitable for grasping from the YCB dataset [6], 13 adversarial objects from DexNet 2....
[...]
References
8,387 citations
"Yale-CMU-Berkeley dataset for robot..." refers methods in this paper
...Together with the dataset, Python scripts and a Robot Operating System node are provided to download the data, generate point clouds and create Unified Robot Description Files....
[...]
...In addition, a Robot Operating System (ROS; Quigley et al., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt (Chitta et al....
[...]
...In addition, a Robot Operating System (ROS; Quigley et al., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt…...
[...]
...In addition, a Robot Operating System (ROS; Quigley et al., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt (Chitta et al., 2012)....
[...]
3,282 citations
"Yale-CMU-Berkeley dataset for robot..." refers methods in this paper
...While the Poisson method provides watertight meshes, the TSDF models are not guaranteed to be watertight....
[...]
...Note that both the Poisson and TSDF methods fail on objects with missing depth data due to the transparent or reflective regions: for objects 22, 30, 31, 32, 38, 39, 42, 43 and 44, the mesh models are partially distorted and for objects 23 and 28 no meaningful model could be generated with the adopted methods....
[...]
...Two kinds of textured mesh models are generated using these data by utilizing Poisson reconstruction (Kazhdan et al., 2006) and Truncated Signed Distance Function (TSDF) (Curless and Levoy, 1996) techniques....
[...]
...The ‘berkeley_processed’ file contains the following: s a point cloud in .ply extension obtained by merging the data acquired from all the viewpoints; s Poisson meshes; s TSDF meshes....
[...]
...Two sets of textured mesh models are obtained using Poisson reconstruction (Kazhdan et al., 2006) and TSDF (Bylow et al., 2013) methods....
[...]
2,824 citations
"Yale-CMU-Berkeley dataset for robot..." refers methods in this paper
..., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt (Chitta et al....
[...]
...…Operating System (ROS; Quigley et al., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt (Chitta et al., 2012)....
[...]
...In addition, a Robot Operating System (ROS; Quigley et al., 2009) node is available at YCB-Benchmarks (2016a) to manage the data and generate Unified Robot Description Files (URDFs) of the mesh models for easy integration to software platforms such as Gazebo (Koenig and Howard, 2004) and MoveIt (Chitta et al., 2012)....
[...]
2,712 citations
"Yale-CMU-Berkeley dataset for robot..." refers methods in this paper
...Two kinds of textured mesh models are generated using these data by utilizing Poisson reconstruction (Kazhdan et al., 2006) and Truncated Signed Distance Function (TSDF) (Curless and Levoy, 1996) techniques....
[...]
...Two sets of textured mesh models are obtained using Poisson reconstruction (Kazhdan et al., 2006) and TSDF (Bylow et al....
[...]
...Two sets of textured mesh models are obtained using Poisson reconstruction (Kazhdan et al., 2006) and TSDF (Bylow et al., 2013) methods....
[...]
1,840 citations
"Yale-CMU-Berkeley dataset for robot..." refers background in this paper
...Each scanhead is a custom structured light (Scharstein and Szeliski, 2003) capture unit, consisting of a consumer digital light processing (DLP) projector, two monochrome cameras in a stereo pair and a color camera to capture fine detail texture/color information (in total three cameras per scanhead)....
[...]
...Each scanhead is a custom structured light (Scharstein and Szeliski, 2003) capture unit, consisting of a consumer digital light processing (DLP) projector, two monochrome cameras in a stereo pair and a color camera to capture fine detail texture/color information (in total three cameras per…...
[...]