CORe50

by Vincenzo Lomonaco,Davide MaltoniResearch Only

CORe50

CORe50, specifically designed for (C)ontinual (O)bject (Re)cognition, is a collection of 50 domestic objects belonging to 10 categories: plug adapters, mobile phones, scissors, light bulbs, cans, glasses, balls, markers, cups and remote controls. Classification can be performed at object level (50 classes) or at category level (10 classes). The first task (the default one) is much more challenging because objects of the same category are very difficult to be distinguished under certain poses. The dataset has been collected in 11 distinct sessions (8 indoor and 3 outdoor) characterized by different backgrounds and lighting. For each session and for each object, a 15 seconds video (at 20 fps) has been recorded with a Kinect 2.0 sensor delivering 300 RGB-D frames. Objects are hand hold by the operator and the camera point-of-view is that of the operator eyes. The operator is required to extend his arm and smoothly move/rotate the object in front of the camera. A subjective point-of-view with objects at grab-distance is well-suited for a number of robotic applications. The grabbing hand (left or right) changes throughout the sessions and relevant object occlusions are often produced by the hand itself.

Dataset Attributes

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TasksObject Recognition, Continual Learning, Classification
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CategoriesIndoor, Office, Tabletop
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SensorRGB-D

Class Labels

Plug_Adapter1Plug_Adapter2Plug_Adapter3Plug_Adapter4Plug_Adapter5Mobile_Phone1Mobile_Phone2Mobile_Phone3Mobile_Phone4Mo Bile_Phone5Scissor1Scissor2Scissor3Scissor4Scissor5Light_Bulb1Light_Bulb2Light_Bulb3Light_Bulb4Light_Bulb5Can1Can 2Can3Can4Can5Glass1Glass2Glass3Glass4Glass5Ball1Ball2Ball3Ball4Ball5Marker1Marker2Marker3Marker4Marke R5Cup1Cup2Cup3Cup4Cup5Remote_Control1Remote_Control2Remote_Control3Remote_Control4Remote_Control5