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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...

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Detalles Bibliográficos
Autores principales: Pokorny, Florian T., Bekiroglu, Yasemin, Pauwels, Karl, Butepage, Judith, Scherer, Clara, Kragic, Danica
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Elsevier 2017
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.
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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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