% ============================================================================== % UMD Part Afforance Dataset % Version 1.0 % ------------------------------------------------------------------------------ % If you use the dataset please cite: % % Austin Myers, Ching L. Teo, Cornelia Fermuller, Yiannis Aloimonos. % Affordance Detection of Tool Parts from Geometric Features. % International Conference on Robotics and Automation (ICRA). 2015. % % Any bugs or questions, please email amyers AT umiacs DOT umd.DOT edu. % ============================================================================== This dataset contains RGB-D images for 105 kitchen, workshop, and gardening tools from different viewpoints as well as 3 cluttered scenes. The data is in the "tools/" and "clutter/" subdirectories respectively. Data is further organized by each tool or scene. Finally, there are 4 types of files for each image: 1. rgb image (*_rgb.jpg) The color portion of an RGB-D frame, 480x640x3. 2. depth image (*_depth.png) The depth portion of an RGB-D frame, 480x640x1. 3. label image (*_label.mat) Where the variable gt_label is 480x640x1 and each pixel is labeled with its most likely affordance, where the integer at gt_label(i,j) indicates the affordance of pixel (i,j) in the image. Background pixels have zero values. 4. ranked label image (*_label_rank.mat) Where the variable gt_label is 480x640x7 Each pixel is labeled with rankings for the 7 different affordances, where the integer at gt_label(i,j,k) indicates the rank of the kth affordance. A value of 1 is the highest ranked (most likely) label, and we allow for ties in the ranking. Background pixels are not labeled, and have all zero values. The ground truth labels are: 1 - 'grasp' 2 - 'cut' 3 - 'scoop' 4 - 'contain' 5 - 'pound' 6 - 'support' 7 - 'wrap-grasp' Ground truth labels are available for every third image in each directory, and automatically generated labels are available for the remaining frames. The automatically labelled frames were not used for training or testing in our experiments. The dataset also has several text files detailing splits for the dataset. Text files lists each tool name (corresponding to its subdirectory) with its corresponding split information. - category_split.txt 2-way split of the tools in the dataset. - category_10_fold.txt 10-fold leave-one-out for tools in the dataset, where each column corresponds to a fold, and 1 indicates if the tool is left out for testing. - tool_categories.txt Lists the how each tool belongs to one of 17 groups. - novel_split.txt Splits the data so that the testing set contains tools from "novel" categories not seen during training. % ============================================================================== % Tool Dataset Details % ============================================================================== % -------------------------------| % Dataset Objects Overview | % -------------------------------| % Cut ---------------------- 25 | % knife 12 | % saw 3 | % scissors 8 | % shears 2 | % Scoop -------------------- 17 | % scoop 2 | % spoon 10 | % trowel 5 | % Contain ------------------ 43 | % bowl 10 | % cup 6 | % ladle 5 | % mug 20 | % pot 2 | % Support ------------------ 10 | % shovel 2 | % turner 8 | % Pound -------------------- 10 | % hammer 4 | % mallet 4 | % tenderizer 2 | % -------------------------------| % Total -------------------- 105 | % -------------------------------| % ============================================================================== % Cutting Tools % ============================================================================== % ---- knife ---- knife_01 cornelia's bread knife (wusthof dreizack) knife_02 austin's bread knife knife_03 cornelia's kitchen knife (wusthof dreizack) knife_04 kitchen knife (cutco) knife_05 kitchen knife (cook at home) knife_06 blue plastic kitchen knife (seasung industrial co.ltd. (Target)) knife_07 austin's kitchen knife (JA Henckels brand) knife_08 paring knife knife_09 deba knife (ikea) knife_10 knife (chefmate) knife_11 knife (wiltshire staysharp) knife_12 carving knife (J.A. Bornschaft) % ---- saw ---- saw_01 hard tooth saw (Stanley) saw_02 fine tooth utility saw (Stanley) saw_03 mitre back saw (Buck Bros) % ---- scissors ---- scissors_01 June's scissors scissors_02 trojka blue kitchen scissors (ikea) scissors_03 white scissors scissors_04 scissors (workforce) scissors_05 thin handle scissors (office max) scissors_06 ergonomic handle scissors (office max) scissors_07 kitchen scissors (wusthof dreizack) scissors_08 scissors (dahle) % ---- shears ---- shears_01 garden pruning shears (Fiskars) shears_02 ergonomic angled pruning head garden shears (Fiskars) % ============================================================================== % Scooping Tools % ============================================================================== % ---- trowel ---- trowel_01 garden trowel (Ames true temper from Home Depot) trowel_02 orange tip plastic garden trowel (Fiskars) trowel_03 yellow tip plastic garden trowel (Fiskars) trowel_04 blue metal small hand trowel trowel_05 blue metal small hand trowel % ---- spoon ---- (in order of convexity) spoon_01 wooden asymmetric soup spoon spoon_02 gray plastic spoon with teal blue handle spoon_03 long wooden soup spoon spoon_04 red soup spoon with metallic handle (giada) spoon_05 metal soup spoon (ikea) spoon_06 wooden soup spoon (kitchenaid) spoon_07 wooden soup spoon spoon_08 bamboo soup spoon (chefmate) spoon_09 wooden soup stirring spoon (everyday living) spoon_10 wooden soup stirring spoon % ---- scoop ---- scoop_01 black plastic food scoop scoop_02 blue plastic 1 cup food scoop % ============================================================================== % Containers % ============================================================================== % ---- ladle ---- ladle_01 metal ladle black rubber handle (OXO) ladle_02 metal ladle black plastic handle (Good Cook) ladle_03 plastic ladle with yellow silicone handle ladle_04 red plastic ladle (chefmate) ladle_05 wooden ladle % ---- cup ---- cup_01 paper cup with colored line design (sysco) cup_02 styrofoam cup cup_03 blue plastic cup (genpack) cup_04 multicolor paper cup (dixie) cup_05 paper coffee cup with soft texture and coffee cup logo (dixie) cup_06 white paper cup with green and black logo (starbucks) % ---- mug ---- mug_01 off-white / gray mug mug_02 las vegas themed mug mug_03 black mug with blue inside mug_04 UMD Alumni mug mug_05 light denim blue mug mug_06 royal blue quaker mug mug_07 eggshell light green mug with unusual handle mug_08 marigold yellow orange mug mug_09 white mug with "Neal's Yard" tree decal mug_10 white taper mug with ring finger handle mug_11 white ICCV mug mug_12 white mug with flower design mug_13 white mug with red sailing ship (lakeforest dental associates) mug_14 beige mug with black text mug_15 columbia university mug mug_16 NASA mug mug_17 plastic mug with lip and red text mug_18 white nespresso mug mug_19 UMD NACS (neuro cognitive science) mug mug_20 bada bean coffee themed mug % ---- bowl ---- bowl_01 small hemispherical teal bowl (summer brand from Target) bowl_02 white inside teal outside cereal bowl (Target brand) bowl_03 two color bowl (the cellar) bowl_04 white cereal bowl (ikea) bowl_05 brown rice bowl black inside bowl_06 large brown rice bowl black inside bowl_07 large black rice bowl red inside bowl_08 rice bowl with blue rabbit design bowl_09 shallow bowl with red inside and black outside bowl_10 black rice bowl with red inside % ---- pot ---- pot_01 teal flower pot (4 in electric flower pot Home Depot) pot_02 red clay flower pot (4.25 in Home Depot) % ============================================================================== % Support Tools % ============================================================================== % ---- turner ---- turner_01 wooden turner (OXO) turner_02 wooden turner with slots (chefmate) turner_03 softworks turner (OXO) turner_04 red turner with holes (Giada) turner_05 off white plastic turner with one slot turner_06 red turner with blue handle and slots turner_08 black plastic turner with slots (OXO) turner_08 metallic turner with slots (IKEA) % ---- shovel ---- shovel_01 green metal small hand shovel shovel_02 light green metal small hand shovel % ============================================================================== % Pounding Tools % ============================================================================== % ---- tenderizer ---- tenderizer_01 small block head tenderizer tenderizer_02 large hour glass head tenderizer % ---- mallet ---- mallet_01 wooden crab mallet with cylindrical head mallet_02 wooden crab mallet with block head mallet_03 rubber mallet mallet_04 rubber mallet (estwing deadhead mallet) % ---- hammer ---- hammer_01 sledge hammer hammer_02 claw hammer (stanley light duty) hammer_03 claw hammer hammer_04 claw hammer (workforce, hickory)