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PokeFlex

Deformable object reconstruction and manipulation

Paired real-world meshes, RGB and RGB-D observations of 18 volumetric deformable objects under poking and dropping, with robot interaction data for poking.

Metadata: Complete Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Other
Environment
Indoor
Data origin
Real-world
Sensor count
10
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

10 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Other Other Multi-view volumetric capture system 106 cameras Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Accuracy notes
Fine details of smaller objects are difficult for the human-scale capture arrangement; no numeric mesh accuracy is established.
Reference notes
Textured deforming object surface meshes, not platform poses. Reconstruction uses 53 RGB and 53 infrared cameras with commercial processing and object-only curation; only two MVS RGB views are listed as released image streams, overlapping this apparatus. Mesh capture is 30 fps for poking and 60 fps for dropping.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Camera intrinsic and extrinsic parameters are provided.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Fine geometric detail on small objects is difficult to reconstruct.

Thin clothing and thin cables are outside the dataset scope.

RGB-D and robot-interaction streams are scoped to poking; dropping has the listed mesh and MVS RGB streams.

Cameras

volucam-rgb

Model
Not reported
Setup
Mono
Count
2
Effective cameras
2
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Two released RGB viewpoints from the MVS, for poking and dropping. Capture is 30 fps for poking and 60 fps for dropping; one common rate is not asserted.

realsense-d405

Model
Intel RealSense D405
Setup
Rgbd
Count
2
Effective cameras
4
Modality
Rgbd
Resolution
Not reported
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Robot end-effector mounted RGB-D data for poking sequences. Robot PC shares the MVS LTC signal; the paper does not establish a separate hardware trigger for these cameras.

azure-kinect

Model
Azure Kinect
Setup
Rgbd
Count
2
Effective cameras
4
Modality
Rgbd
Resolution
Not reported
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Opposing external RGB-D views for poking. Pair synchronized in hardware; alignment to MVS is retrospective using filmed timecode.

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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