Transparent Object Dataset for Human-Robot Interaction

A dataset for transparent object detection, classification, and surface reconstruction captured using a humanoid robot.

Robot Setup

Dataset Overview

This dataset consists of 7700 frames captured from 100 scenes involving transparent objects. It includes data from multiple cameras mounted on a humanoid robot. The dataset is designed for challenging tasks such as object detection, depth estimation, and robot grasping for transparent materials like glasses.

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Dataset (Training and Validations Scenes)
Dataset (Testing Split captured during Experiments)
Training JSON Files
Validation JSON Files
Model Checkpoints

Dataset Modalities Visualization

Sample 1
Sample 2
Sample 3