Publication

ContactPose: A Dataset of Grasps with Object Contact and Hand Pose

European Conference on Computer Vision (ECCV)


Abstract

Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can potentially improve hand models, AR/VR experiences, and robotic grasping. Yet, we currently lack datasets of hand-object contact paired with other data modalities, which is crucial for developing and evaluating contact modeling techniques. We introduce ContactPose, the first dataset of hand-object contact paired with hand pose, object pose, and RGB-D images. ContactPose has 2306 unique grasps of 25 household objects grasped with 2 functional intents by 50 participants, and more than 2.9 M RGB-D grasp images. Analysis of ContactPose data reveals interesting relationships between hand pose and contact. We use this data to rigorously evaluate various data representations, heuristics from the literature, and learning methods for contact modeling. Data, code, and trained models are available at https://contactpose.cc.gatech.edu.

Watch presentation

Related Publications

All Publications

EMNLP - October 31, 2021

Evaluation Paradigms in Question Answering

Pedro Rodriguez, Jordan Boyd-Graber

ASRU - December 13, 2021

Incorporating Real-world Noisy Speech in Neural-network-based Speech Enhancement Systems

Yangyang Xia, Buye Xu, Anurag Kumar

SIGGRAPH - August 2, 2021

Fast Diffraction Pathfinding for Dynamic Sound Propagation

Carl Schissler, Gregor M├╝ckl, Paul Calamia

Uncertainty and Robustness in Deep Learning Workshop at ICML - June 24, 2021

DAIR: Data Augmented Invariant Regularization

Tianjian Huang, Chinnadhurai Sankar, Pooyan Amini, Satwik Kottur, Alborz Geramifard, Meisam Razaviyayn, Ahmad Beirami

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookies Policy