articleJul 1, 2015Closed access

The YCB object and Model set: Towards common benchmarks for manipulation research

BÇBerk ÇallıASArjun SinghAWAaron WalsmanSSSiddhartha S SrinivasaPAPieter Abbeel

Yale University · University of California, Berkeley · +1 more institution

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Abstract

In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used for benchmarking in robotic grasping and manipulation research. The objects in the set are designed to cover various aspects of the manipulation problem; it includes objects of daily life with different shapes, sizes, textures, weight and rigidity, as well as some widely used manipulation tests. The associated database provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms. A comprehensive literature survey on existing benchmarks and object datasets is also presented and their scope and limitations are…

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804
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FWCI
23.17
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100%
References
32
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6

Topics & keywords

Topics
Keywords
  • Computer science
  • Benchmarking
  • Scope (computer science)
  • Artificial intelligence
  • Set (abstract data type)
  • Robotics
  • Object (grammar)
  • Software
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