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Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.

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Download and pre-processing utilities + Python dataloader for the ContactPose dataset. The dataset was introduced in the following ECCV 2020 paper: ContactPose: A Dataset of Grasps with Object Contact and Hand Pose -

Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays

Example ContactPose data: Contact Maps, 3D hand pose, and RGB-D grasp images for functional grasps.

Companion Repositories/Websites:

Citation

@InProceedings{Brahmbhatt_2020_ECCV,
author = {Brahmbhatt, Samarth and Tang, Chengcheng and Twigg, Christopher D. and Kemp, Charles C. and Hays, James},
title = {{ContactPose}: A Dataset of Grasps with Object Contact and Hand Pose},
booktitle = {The European Conference on Computer Vision (ECCV)},
month = {August},
year = {2020}
}

We have made some data and annotation corrections. The link above mentions the correction date and the exact data that was corrected. If you got that data before the correction date, please re-download it.

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Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.

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