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Technical Report Details

Date 14-10-2010
Number DISI-TR-10-09
Title VMGdB - Contact Visuo Motor Grasping dataBase
Authors Nicoletta Noceti, Claudio Castellini, Barbara Caputo, Francesca Odone
Bibtex Entry
E-mail odone@disi.unige.it
Link http://slipguru.disi.unige.it/Research/VMGdB/
Abstract Grasping is one of the most interesting challenges in nowadays robotics, posing problems to the mechanical and electronic engineer, the computer vision researcher, the control theorist and, more recently, the neuroscientist. The study of human grasping has proved beneficial to get a better understanding of the problem. In this paper we present VMGdB, the CONTACT Visuo-Motor Grasping Database, a recording of grasping actions performed by 20 human subjects on 7 objects using 5 ways of grasping, under variable illumination conditions. The VMGdB consists of 5200 grasping acts organized in 260 data entries --- each of which made of 2 video sequences recorded from two colour cameras, and motor data recorded from a sensorised glove. Labeled data are available as standard AVI videos and a file of ASCII outputs from the glove. The VMGdB provides to the community a reliable and flexible testbed for tackling the problem of grasping from a humanoid/human-oriented perspective, and hopefully not only that.
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