The RBO Dataset of Articulated Objects and Interactions

The RBO dataset of articulated objects and interactions is a collection of 358 RGB-D video sequences (67:18 minutes) of humans manipulating 14 articulated objects under varying conditions (light, perspective, background, interaction). All sequences are annotated with ground truth of the poses of the rigid parts and the kinematic state of the articulated object (joint states) obtained with a motion capture system. We also provide complete kinematic models of these objects (kinematic structure and three-dimensional textured shape models). In 78 sequences the contact wrenches during the manipulation are also provided. For more information, please refer to https://tu-rbo.github.io/articulated-objects/

铰接物体与交互RBO数据集包含358段RGB-D视频序列，总时长67分18秒，记录了人类在不同条件（光照、视角、背景、交互方式）下操作14个铰接物体（articulated object）的场景。所有序列均标注有通过动作捕捉系统获取的刚性部件位姿与铰接物体运动学状态（关节状态）的真值标签。本数据集还提供了这些物体的完整运动学模型，包括运动学结构与带纹理的三维形状模型。其中78段序列额外提供了操作过程中的接触旋量（contact wrenches）。如需获取更多信息，请访问 https://tu-rbo.github.io/articulated-objects/