ContactPose

Introduced in ContactPose: A Dataset of Grasps with Object Contact and Hand Pose

About this Dataset

ContactPose is a dataset of hand-object contact paired with hand pose, object pose, and RGB-D images. ContactPose has 2306 unique grasps of 25 household objects grasped with 2 functional intents by 50 participants, and more than 2.9 M RGB-D grasp images.

Source: ContactPose: A Dataset of Grasps with Object Contact and Hand Pose

Dataset Variants

ContactPose

Papers1

ContactPose: A Dataset of Grasps with Object Contact and Hand Pose

This work introduces ContactPose, the first dataset of hand-object contact paired with hand pose, object pose, and RGB-D images, and uses this data to rigorously evaluate various data representations, heuristics from the literature, and learning methods for contact modeling.

Dataset Loaders

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facebookresearch/ContactPose

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Tasks

EDIT

Grasp Contact Prediction

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Statistics

Papers

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