论文标题
Google扫描的对象：3D扫描家居用品的高质量数据集
Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items
论文作者
论文摘要
交互式3D模拟已经实现了机器人技术和计算机视觉的突破，但是模拟深度学习所需的广泛环境需要大量的光真逼真的3D对象模型。为了满足这一需求，我们提出了Google扫描的对象，该物品是根据创意共享许可证发布的一千多个3D扫描的家居用品的开源集；这些模型被预处理用于点火凉亭和子弹仿真平台，但很容易适应其他模拟器。我们描述我们的对象扫描和策展管道，然后提供有关数据集及其用法内容的统计信息。我们希望Google扫描的对象的多样性，质量和灵活性将导致交互式模拟，合成感知和机器人学习的进步。
Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items released under a Creative Commons license; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility of Google Scanned Objects will lead to advances in interactive simulation, synthetic perception, and robotic learning.
