Real testing sets for Visual Affordance Segmentation of hand-occluded objects

[arXiv] [webpage] [code] [trained model][mixed-reality data]

RGB images with the corresponding affordance annotation to test affordance segmentation models. Images are selected from two datasets for hand-object pose estimation: HO-3D and CCM.

For HO3D we selected 150 frames from the dataset and enriched the annotation of the hand and object segmentation masks with new annotations specific for the affordance segmentation problem.

For CCM we selected 150 frames from the dataset and created the annotation specific for the affordance segmentation problem. The forearms and hands in contact with the offered container are annotated. 

File names are formatted as: _.png

Segmentation classes values:

 0: background

 1: graspable

 2: contain

 3: arm

References. 

Affordance segmentation of hand-occluded containers from exocentric imagesT. Apicella, A. Xompero, E. Ragusa, R. Berta, A. Cavallaro, P. GastaldoIEEE/CVF International Conference on Computer Vision Workshops (ICCVW), 2023

@inproceedings{apicella2023affordance,
title={Affordance segmentation of hand-occluded containers from exocentric images},
author={Apicella, Tommaso and Xompero, Alessio and Ragusa, Edoardo and Berta, Riccardo and Cavallaro, Andrea and Gastaldo, Paolo},
booktitle={IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)},
year={2023},
}

HOnnotate: A method for 3D Annotation of Hand and Objects PosesS. Hampali, M. Rad, M. Oberweger, V. LepetitIEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2020

@inproceedings{hampali2020honnotate,
title={Honnotate: A method for 3d annotation of hand and object poses},
author={Hampali, Shreyas and Rad, Mahdi and Oberweger, Markus and Lepetit, Vincent},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={3196--3206},
year={2020}
}

CORSMAL Containers Manipulation (1.0) [Data set]A. Xompero, R. Sanchez-Matilla, R. Mazzon, and A. CavallaroQueen Mary University of London. https://doi.org/10.17636/101CORSMAL1

License. Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)

Enquiries, Question and Comments. For enquiries, questions, or comments, please contact Tommaso Apicella.