{"url":"/dataset/contactdb","name":"ContactDB","full_name":null,"description_markdown":"**ContactDB** is a dataset of contact maps for household objects that captures the rich hand-object contact that occurs during grasping, enabled by use of a thermal camera. ContactDB includes 3,750 3D meshes of 50 household objects textured with contact maps and 375K frames of synchronized RGB-D+thermal images.\r\n\r\nSource: [https://arxiv.org/abs/1904.06830](https://arxiv.org/abs/1904.06830)\r\nImage Source: [https://github.com/samarth-robo/contactdb_utils](https://github.com/samarth-robo/contactdb_utils)","description_withheld":null,"homepage":"https://github.com/samarth-robo/contactdb_utils","introduced_date":null,"introduced_date_note":null,"introduced_by":{"paper":"/paper/contactdb-analyzing-and-predicting-grasp","title":"ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging","first_author":"Samarth Brahmbhatt","url":null},"license":{"name":"Custom","url":"https://github.com/samarth-robo/contactdb_utils"},"modalities":[{"name":"Images","url":"/datasets/modality/images"},{"name":"3D","url":"/datasets/modality/3d"}],"tasks":[{"name":"Grasp Contact Prediction","url":"/task/human-grasp-contact-prediction","datasets_with_task":"/datasets/task/human-grasp-contact-prediction"}],"languages":[],"variants":["ContactDB"],"data_loaders":[{"repo":"https://github.com/samarth-robo/contactdb_utils","url":"https://github.com/samarth-robo/contactdb_utils","frameworks":[]}],"num_papers_in_archive":21,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/human-grasp-contact-prediction-on-contactdb","task":"Grasp Contact Prediction","dataset_variant":"ContactDB","rows":4,"metrics":["Error rate"],"first_row_in_archive_order":{"model":"DiverseNet-VoxNet","paper":"/paper/contactdb-analyzing-and-predicting-grasp","metrics":{"Error rate":"8.72"},"code_links":[{"title":"samarth-robo/contactdb_prediction","url":"https://github.com/samarth-robo/contactdb_prediction"},{"title":"samarth-robo/contactdb_utils","url":"https://github.com/samarth-robo/contactdb_utils"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/contactdb-analyzing-and-predicting-grasp","title":"ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging","date":"2019-04-15","rows_on_this_dataset":4,"code_links":2,"syntology":null}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}