PFN Visuo-Tactile Dataset (PFN-VT)

This dataset is used in following article:

Kuniyuki Takahashi, Jethro Tan: "Deep Visuo-Tactile Learning: Estimation of Tactile Properties from Images," 2019 IEEE International Conference on  International Conference on Robotics and Automation (ICRA2019), 20-24th May, 2019

https://arxiv.org/abs/1803.03435
https://www.youtube.com/watch?v=ys0QtKVVlOQ&feature=youtu.be

Dataset:

https://static.preferred.jp/datasets/icra2019/deep_visuo_tactile_lerning/PFN_visuo-tactile_dataset4ICRA2019.zip

Shape of *.npy is following:

(time step, number of taxels, 3-axes(xyz))

Example of cropped images:

Example of normalized and resampled tactule sequence: