Retail Objects Affordance Dataset, underlying the MSc thesis: Object Affordance Detection for Mobile Manipulation in Retail Environments

Synthetically generated affordance dataset consisting of 3237 images with pixel-level annotations for either graspable or pushable affordance classes. Further, 204 annotated real images of similar scenarios are included.Images contain retail store related objects lying of supermarket floors, together with a semantic masks differentiating the object from the background.