The RobotriX: An Extremely Photorealistic and Very-Large-Scale Indoor Dataset of Sequences with Robot Trajectories and Interactions
Enter the RobotriX, an extremely photorealistic indoor dataset designed to enable the application of deep learning techniques to a wide variety of robotic vision problems. The RobotriX consists of hyperrealistic indoor scenes which are explored by robot agents which also interact with objects in a v...
| Autores: | , , , , , , , , |
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| Tipo de recurso: | conjunto de datos |
| Fecha de publicación: | 2018 |
| País: | España |
| Institución: | Universidad de Alicante (UA) |
| Repositorio: | RUA. Repositorio Institucional de la Universidad de Alicante |
| Idioma: | inglés |
| OAI Identifier: | oai:dnet:ruarepositor::7c9d1d754c61b9853aaaa4d5ee888b8e |
| Acceso en línea: | https://github.com/3dperceptionlab/therobotrix |
| Access Level: | acceso abierto |
| Palabra clave: | Indoor Dataset Photorealism Deep Learning Robotics |
| Sumario: | Enter the RobotriX, an extremely photorealistic indoor dataset designed to enable the application of deep learning techniques to a wide variety of robotic vision problems. The RobotriX consists of hyperrealistic indoor scenes which are explored by robot agents which also interact with objects in a visually realistic manner in that simulated world. Photorealistic scenes and robots are rendered by Unreal Engine into a virtual reality headset which captures gaze so that a human operator can move the robot and use controllers for the robotic hands; scene information is dumped on a per-frame basis so that it can be reproduced offline using UnrealCV to generate raw data and ground truth labels. By taking this approach we were able to generate a dataset of 38 semantic classes across 512 sequences totaling 8M stills recorded at +60 frames per second with full HD resolution. For each frame, RGB-D and 3D information is provided with full annotations in both spaces. Thanks to the high quality and quantity of both raw information and annotations, the RobotriX will serve as a new milestone for investigating 2D and 3D robotic vision tasks with large-scale data-driven techniques. |
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