Accompanying expert data and trained models for 2021 IROS paper on Multiview Manipulation.
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Introduction NBMOD is a dataset created for researching the task of specific object grasp detection by robots in noisy environments. The dataset comprises three subsets: Simple background Single-object Subset (SSS), Noisy background Single-object Subset (NSS), and Multi-Object grasp detection Subset (MOS). The SSS subset contains 13,500 images, the NSS subset contains 13,000 images, and the MOS subset contains 5,000 images.
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Includes several sets of synthetic stereo images labelled with grasp rectangles representing parallel-jaw grasps (Cornell-like format).