The robotrix: An extremely photorealistic and very-large-scale indoor dataset of sequences with robot trajectories and interactions

A Garcia-Garcia, P Martinez-Gonzalez… - 2018 IEEE/RSJ …, 2018 - ieeexplore.ieee.org
2018 IEEE/RSJ International Conference on Intelligent Robots and …, 2018ieeexplore.ieee.org
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 …
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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