What is DARP?

Definition and Purpose

DARP stands for Dual-Arm Robotic Perception. The dataset is designed to support multi-view reconstruction. The project utilizes two independently moving eye-in-hand manipulators. Each robotic arm is equipped with an Intel RealSense sensor. The acquisition procedure performs automatic localization. ### Dataset Composition and Processing The DARP dataset contains ten unique objects from a tabletop environment. It includes information required to reconstruct camera trajectories. To process this data, the researchers implemented a deterministic multi-view fusion pipeline. ### Technical Evaluation The geometric consistency evaluation used 224 held-out RGB-D keyframes. The median point-to-mesh distance for the dataset evaluation is 2.13 mm. The root mean square error of the evaluation is 4.04 mm. Furthermore, 96.56% of points in the evaluation are within 10 mm of the measured-surface mesh.

Sources

• https://arxiv.org/abs/2608.31002
• https://arxiv.org/abs/2608.31002