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A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate
We present a novel approach and database which combines the inexpensive generation of 3D object models via monocular or RGB-D camera images with 3D printing and a state of the art object tracking algorithm. Unlike recent efforts towards the creation of 3D object databases for robotics, our approach...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Elsevier
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5338869/ https://www.ncbi.nlm.nih.gov/pubmed/28289699 http://dx.doi.org/10.1016/j.dib.2017.02.015 |
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author | Pokorny, Florian T. Bekiroglu, Yasemin Pauwels, Karl Butepage, Judith Scherer, Clara Kragic, Danica |
author_facet | Pokorny, Florian T. Bekiroglu, Yasemin Pauwels, Karl Butepage, Judith Scherer, Clara Kragic, Danica |
author_sort | Pokorny, Florian T. |
collection | PubMed |
description | We present a novel approach and database which combines the inexpensive generation of 3D object models via monocular or RGB-D camera images with 3D printing and a state of the art object tracking algorithm. Unlike recent efforts towards the creation of 3D object databases for robotics, our approach does not require expensive and controlled 3D scanning setups and aims to enable anyone with a camera to scan, print and track complex objects for manipulation research. The proposed approach results in detailed textured mesh models whose 3D printed replicas provide close approximations of the originals. A key motivation for utilizing 3D printed objects is the ability to precisely control and vary object properties such as the size, material properties and mass distribution in the 3D printing process to obtain reproducible conditions for robotic manipulation research. We present CapriDB – an extensible database resulting from this approach containing initially 40 textured and 3D printable mesh models together with tracking features to facilitate the adoption of the proposed approach. |
format | Online Article Text |
id | pubmed-5338869 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | Elsevier |
record_format | MEDLINE/PubMed |
spelling | pubmed-53388692017-03-13 A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate Pokorny, Florian T. Bekiroglu, Yasemin Pauwels, Karl Butepage, Judith Scherer, Clara Kragic, Danica Data Brief Data Article We present a novel approach and database which combines the inexpensive generation of 3D object models via monocular or RGB-D camera images with 3D printing and a state of the art object tracking algorithm. Unlike recent efforts towards the creation of 3D object databases for robotics, our approach does not require expensive and controlled 3D scanning setups and aims to enable anyone with a camera to scan, print and track complex objects for manipulation research. The proposed approach results in detailed textured mesh models whose 3D printed replicas provide close approximations of the originals. A key motivation for utilizing 3D printed objects is the ability to precisely control and vary object properties such as the size, material properties and mass distribution in the 3D printing process to obtain reproducible conditions for robotic manipulation research. We present CapriDB – an extensible database resulting from this approach containing initially 40 textured and 3D printable mesh models together with tracking features to facilitate the adoption of the proposed approach. Elsevier 2017-02-12 /pmc/articles/PMC5338869/ /pubmed/28289699 http://dx.doi.org/10.1016/j.dib.2017.02.015 Text en © 2017 The Authors http://creativecommons.org/licenses/by/4.0/ This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Data Article Pokorny, Florian T. Bekiroglu, Yasemin Pauwels, Karl Butepage, Judith Scherer, Clara Kragic, Danica A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title | A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title_full | A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title_fullStr | A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title_full_unstemmed | A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title_short | A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate |
title_sort | database for reproducible manipulation research: capridb – capture, print, innovate |
topic | Data Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5338869/ https://www.ncbi.nlm.nih.gov/pubmed/28289699 http://dx.doi.org/10.1016/j.dib.2017.02.015 |
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