In this paper we present and start analyzing the iCub World data-set, an object recognition data-set, we acquired using a Human-Robot Interaction (HRI) scheme and the iCub humanoid robot platform. Our set up allows for rapid acquisition and annotation of data with correspond- ing ground truth. While more constrained in its scopes – the iCub world is essentially a robotics research lab – we demonstrate how the proposed data-set poses challenges to current recognition systems. The iCubWorld data-set is publicly available http://www.iit.it/en/projects/data-sets.html.
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