The KIT object models database: An object model database for object recognition, localization and manipulation in service robotics

For the execution of object recognition, localization and manipulation tasks, most algorithms use object models. Most models are derived from, or consist of two-dimensional (2D) images and/or three-dimensional (3D) geometric data. The system described in this article was constructed specifically for...

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Bibliographic Details
Published in:The International journal of robotics research 2012-07, Vol.31 (8), p.927-934
Main Authors: Kasper, Alexander, Xue, Zhixing, Dillmann, Rüdiger
Format: Article
Language:English
Subjects:
Algorithms
Calibration
Robotics
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Summary:For the execution of object recognition, localization and manipulation tasks, most algorithms use object models. Most models are derived from, or consist of two-dimensional (2D) images and/or three-dimensional (3D) geometric data. The system described in this article was constructed specifically for the generation of such model data. It allows 2D image and 3D geometric data of everyday objects be obtained semi-automatically. The calibration provided allows 2D data to be related to 3D data. Through the use of high-quality sensors, high-accuracy data is achieved. So far over 100 objects have been digitized using this system and the data has been successfully used in several international research projects. All of the models are freely available on the web via a front-end that allows preview and filtering of the data.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364912445831