IEEE Robotics & Automation Magazine - June 2011 - 44
T
he consideration of data set design, collection, and distribution methodology is becoming increasingly important as robots move out of fully
controlled settings, such as assembly lines, into unstructured environments. Extensive knowledge bases and data sets will potentially offer a
means of coping with the variability inherent in the real world. In this
study, we introduce three new data sets related to mobile manipulation in human
environments. The first set contains a large corpus of robot sensor data collected in
typical office environments. Using a crowd-sourcing approach, this set has been
annotated with ground-truth information outlining people in camera images. The
second data set consists of three-dimensional (3-D) models for a number of graspable
objects commonly encountered in households and offices. Using a simulator, we have
identified on each of these objects a large number of grasp points for a parallel jaw
gripper. This information has been used to attempt a large number of grasping tasks
using a real robot. The third data set contains extensive proprioceptive and groundtruth information regarding the outcome of these tasks.
*
By Matei Ciocarlie,
Caroline Pantofaru,
Kaijen Hsiao,
Gary Bradski, Peter Brook,
and Ethan Dreyfuss
© INGRAM PUBLISHING, PHOTODISC
Three Data Sets
for Mobile Manipulation
in Human Environments
Digital Object Identifier 10.1109/MRA.2011.940990
Date of publication: 14 June 2011
44
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
JUNE 2011
1070-9932/11/$26.00ª2011 IEEE
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