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DexYCB: A Benchmark for Capturing Hand Grasping of Objects

2021-04-09 22:54:21
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
arXiv_CV
         
Abstract

We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant tasks: 2D object and keypoint detection, 6D object pose estimation, and 3D hand pose estimation. Finally, we evaluate a new robotics-relevant task: generating safe robot grasps in human-to-robot object handover. Dataset and code are available at this https URL.

Abstract (translated)

URL

https://arxiv.org/abs/2104.04631

PDF

https://arxiv.org/pdf/2104.04631.pdf

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