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facebookresearch / ContactPose

Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.
http://contactpose.cc.gatech.edu/
MIT License
338 stars 33 forks source link
computer-vision contact dataset grasps hand-object-interaction mano rgb rgbd robotics

readme

PWC

NOTE: We are aware that the original Dropbox data download links are not valid anymore. Most of the data is now available in IEEE DataPort. This is being tracked in Issue 27.

ContactPose

Download and pre-processing utilities + Python dataloader for the ContactPose dataset. The dataset was introduced in the following ECCV 2020 paper: ContactPose: A Dataset of Grasps with Object Contact and Hand Pose -

Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays

Example ContactPose data: Contact Maps, 3D hand pose, and RGB-D grasp images for functional grasps.

Companion Repositories/Websites:

Citation

@InProceedings{Brahmbhatt_2020_ECCV,
author = {Brahmbhatt, Samarth and Tang, Chengcheng and Twigg, Christopher D. and Kemp, Charles C. and Hays, James},
title = {{ContactPose}: A Dataset of Grasps with Object Contact and Hand Pose},
booktitle = {The European Conference on Computer Vision (ECCV)},
month = {August},
year = {2020}
}

Documentation Link

Data Changelog

We have made some data and annotation corrections. The link above mentions the correction date and the exact data that was corrected. If you got that data before the correction date, please re-download it.

Licensing

Updates