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This paper presents a new large scale dataset targeting evaluation of local shape descriptors and 3d object recognition algorithms. The dataset consists of point clouds and triangulated meshes from 292 physical scenes taken from 11 different views, a total of approximately 3204 views. Each of the physical scenes contain 10 occluded objects resulting in a dataset with 32040 unique object poses and...
We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different configurations are included in the database. The user needs to provide a method for grasp generation...
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