Here we present a labeled dataset for identifying grasping rectangles in an image, as well as code for manipulating the raw data, and visualizing the rectangles. A grasping rectangle is an oriented rectangle in the image plane which defines the orientation of a gripper parallel to the image plane.
The dataset consists of 1035 images of 280 different objects, with several images taken of each object in different orientations or poses. Each image also has an associated point cloud and a background image. (A single background image is used for number object images). The raw dataset below consists of: (a) images, (b) grasping rectangles, (c) pointclouds, (d) background images and (e) a file containing a mapping from each image to the corresponding background image.
Background images: here
Explanation of raw data format: README
A small sample of the images included in our data set
The following processed dataset contains the features and labels for each of the grasping rectangles given in the above raw dataset, as well as a mapping from each rectangle to the image that it came from, objectID of the object in that image, a description of that object.
ProcessedData , 61.9MB
Explanation of processed data format: README
Code for Learning
Code for Testing on PR2
Please contact David (firstname.lastname@example.org) for questions.