/pc-3d-grasp-ds

Point-Cloud Grasp Affordance Dataset

Primary LanguagePython

Grasp Affordance Dataset (Pointcloud data)

Authors: Yikun Li, Lambert Schomaker, Hamidreza Kasaei

Examples of models in the dataset:

This dataset contains 500 models as well as their grasp affordance from five categories (mug, lamp, chair, knife, and guitar). 25 example models with grasp affordance are shown below:

Examples

An animation example:

Animation Example

Getting started

  1. unzip the dataset.zip file.
  2. run the model_reviewer.py viewing the models with grasp affordance.

Paper

Latest version available on arXiv | Video

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Please adequately refer to the papers any time this code is being used. If you do publish a paper where this dataset helped your research, we encourage you to cite the following paper in your publications:

@inproceedings{li2020learning,
  title={Learning to grasp 3d objects using deep residual u-nets},
  author={Li, Yikun and Schomaker, Lambert and Kasaei, S Hamidreza},
  booktitle={2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages={781--787},
  year={2020},
  organization={IEEE}
}

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