Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00370713" target="_blank" >RIV/68407700:21730/23:00370713 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2023.3259735" target="_blank" >https://doi.org/10.1109/LRA.2023.3259735</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2023.3259735" target="_blank" >10.1109/LRA.2023.3259735</a>

Result language
angličtina
Original language name
Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators
Original language description
This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects, which is a common case in imitation learning, where the object is typically partially occluded by the manipulating hand. Currently, there is a lack of datasets that would enable the development of robust 6D pose estimation methods for these conditions. To overcome this problem, we collect a new dataset (Imitrob) aimed at 6D pose estimation in imitation learning and other applications where a human holds a tool and performs a task. The dataset contains image sequences of nine different tools and twelve manipulation tasks with two camera viewpoints, four human subjects, and left/right hand. Each image is accompanied by an accurate ground truth measurement of the 6D object pose obtained by the HTC Vive motion tracking device. The use of the dataset is demonstrated by training and evaluating a recent 6D object pose estimation method (DOPE) in various setups.
Czech name
—
Czech description
—

Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)