The ModelNet40 dataset contains synthetic object point clouds. As the most widely used benchmark for point cloud analysis, ModelNet40 is popular because of its various categories, clean shapes, well-constructed dataset, etc. The original ModelNet40 consists of 12,311 CAD-generated meshes in 40 categories (such as airplane, car, plant, lamp), of which 9,843 are used for training while the rest 2,468 are reserved for testing. The corresponding point cloud data points are uniformly sampled from the mesh surfaces, and then further preprocessed by moving to the origin and scaling into a unit sphere.
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The RBO dataset of articulated objects and interactions is a collection of 358 RGB-D video sequences (67:18 minutes) of humans manipulating 14 articulated objects under varying conditions (light, perspective, background, interaction). All sequences are annotated with ground truth of the poses of the rigid parts and the kinematic state of the articulated object (joint states) obtained with a motion capture system. We also provide complete kinematic models of these objects (kinematic structure and three-dimensional textured shape models). In 78 sequences the contact wrenches during the manipulation are also provided.
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