Washington RGB-D is a widely used testbed in the robotic community, consisting of 41,877 RGB-D images organized into 300 instances divided in 51 classes of common indoor objects (e.g. scissors, cereal box, keyboard etc). Each object instance was positioned on a turntable and captured from three different viewpoints while rotating.
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The RBO dataset of articulated objects and interactions is a collection of 358 RGB-D video sequences (67:18 minutes) of humans manipulating 14 articulated objects under varying conditions (light, perspective, background, interaction). All sequences are annotated with ground truth of the poses of the rigid parts and the kinematic state of the articulated object (joint states) obtained with a motion capture system. We also provide complete kinematic models of these objects (kinematic structure and three-dimensional textured shape models). In 78 sequences the contact wrenches during the manipulation are also provided.
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