Googleスキャンオブジェクト：家庭用品の高品質3Dスキャンデータセット
Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items
家庭用品1000点以上を3Dスキャンしたオープンソースデータセットを公開し、ロボティクスや知覚研究のシミュレーション向けに整備した。
著者: Laura Downs, Anthony Francis, Nate Koenig, Brandon Kinman, Ryan Hickman, Krista Reymann, Thomas B. McHugh, Vincent Vanhoucke
分類: cs.RO, cs.GR
原文アブストラクト
Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items released under a Creative Commons license; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility of Google Scanned Objects will lead to advances in interactive simulation, synthetic perception, and robotic learning.
