Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items released under a Creative Commons license; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility of Google Scanned Objects will lead to advances in interactive simulation, synthetic perception, and robotic learning.

翻译：互动的3D模拟使机器人和计算机视觉得以突破,但模拟深层学习所需的广泛环境多样性需要大量摄影现实的3D对象模型。为了满足这一需要,我们提供了谷歌扫描对象(Google Scaned Objects),这是根据创用CC许可证发布的1 000多个3D扫描家庭物品的公开源码收藏;这些模型是预先处理的,供Ignition Gazebo和子弹模拟平台使用,但很容易适应其他模拟器。我们描述了我们的物体扫描和整理管道,然后提供有关数据集内容及其使用的统计数据。我们希望谷歌扫描对象的多样性、质量和灵活性将导致互动模拟、合成感知和机器人学习的进展。