eyeHandCalibrationDataset-Sim

This is a dataset that can be used to test eye-hand calibration on the iCub humanoid robot. The images were recorded in a realistic (visually) iCub simulation.

Description of the Dataset Folder

The dataset was recorded during a babbling movement of the right arm and it is composed with:

• left and right images
• head encoders
• right arm encoders
• artificial angular offsets on the right arm .([-10.0 -10.0 6.0 -7.0 -1.0 -20.0 7.0]º)

Description of the Results Folder

The results are the output on the present dataset running the code on the GitHub repository:

https://github.com/vicentepedro/Online-Body-Schema-Adaptation

The outputs are:

• the canonical hand pose projection in the left camera generated using the arm encoders values (which have an artificial angular offset)
• the corrected hand pose projection in the left camera generated using the arm encoders and the estimated angular offsets
• the estimated angular offsets in each time step

Using the dataset

The YARP dataplayer (here) can be used to reproduce the dataset in a synchronized way.