TransCG
홈페이지 · 논문 7편
TransCG is the first large-scale real-world dataset for transparent object depth completion and grasping, which contains 57,715 RGB-D images of 51 transparent objects and many opaque objects captured from different perspectives (~240 viewpoints) of 130 scenes under real-world settings. The samples are captured by two different types of cameras (Realsense D435 & L515). The following data is provided: - The 3D model of the transparent object; - The 6dpose of the transparent object in each viewpoint of each scene; - The raw RGB-D image, and the ground-truth refined depth image; - The mask of the transparent objects; - The ground-truth surface normals of every sample.
RGB-D English