If you are using this dataset, please cite: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8206372
@inproceedings{abelha2017learning,
title={Learning How a Tool Affords by Simulating 3D Models from the Web},
author={Abelha Ferreira, Paulo and Guerin, Frank},
booktitle={Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS 2017)},
year={2017},
organization={IEEE Press}
}
ToolArtec dataset with 50 high-quality, full-view point clouds of household tools with mass and affordance groundtruth for 5 tasks. By Paulo Abelha
For this dataset we scanned 50 objects with the Artec 3D Eva scanner and hand-labelled groundtruth.