WUT visual perception dataset: A dataset for registration and recognition of objects

Abstract

Modern robots are typically equipped with many sensors with different modalities, e.g. RGB cameras, Time-of-Flight cameras or RGB-D sensors. Thus development of universal, modality-independent algorithms require appropriate datasets and benchmarks. In this paper we present WUT Visual Perception Dataset, consisting of five datasets, captured with different sensors with the goal of development, comparison and evaluation of algorithms for automatic object model registration and object recognition.