Point Cloud Dataset for Robotic Grasping Pose Classification

PointNetGPD-based scores for 47 single-view point clouds of common objects. The dataset includes positive grasping pose samples and experimental results from the paper 'An efficient pose classification method for robotic grasping'. Author wenlong ji released the data on paperswithcode.

Use Cases

• Training robotic grasp pose classifiers based on point cloud data.
• Benchmarking pose classification methods against the provided experimental results.
• Analyzing the effectiveness of PointNetGPD-derived grasp quality scores.

Strengths

• Contains 47 distinct single-view point cloud files.
• Includes pre-calculated grasp quality scores for each point based on PointNetGPD.
• Provides aligned positive sample grasping poses.

Limitations

• Row count and file sizes are unknown, which may limit suitability assessment.
• Column-level documentation is absent; field semantics must be inferred after download.
• Last update date is unknown; freshness unverified.

Provenance

Source

paperswithcode

Collection Method

Likely generated from experiments described in the associated research paper.