The creation of accurate virtual models of real-world objects is imperative to robotic simulations and applications such as computer vision, artificial intelligence, and machine learning. This paper documents the different methods employed for generating a database of mesh models of real-world objects. These methods address the tedious and time-intensive process of manually generating the models using CAD software. Essentially, DSLR/phone cameras were employed to acquire images of target objects. These images were processed using a photogrammetry software known as Meshroom to generate a dense surface reconstruction of the scene. The result produced by Meshroom was edited and simplified using MeshLab, a mesh-editing software to produce the final model. Based on the obtained models, this process was effective in modelling the geometry and texture of real-world objects with high fidelity. An active 3D scanner was also utilized to accelerate the process for large objects. All generated models and captured images are made available on the website of the project.

翻译：创建真实世界物体的精确虚拟模型对于机器人仿真以及计算机视觉、人工智能和机器学习等应用至关重要。本文记录了用于生成真实世界物体网格模型数据库的多种方法。这些方法解决了使用CAD软件手动生成模型的繁琐且耗时问题。具体而言，采用单反/手机相机获取目标物体的图像。使用名为Meshroom的摄影测量软件处理这些图像，以生成场景的稠密表面重建。利用网格编辑软件MeshLab对Meshroom输出的结果进行编辑和简化，生成最终模型。基于所获模型验证，该方法能够高保真地模拟真实世界物体的几何形状和纹理。同时，针对大型物体，采用主动式三维扫描仪以加速建模流程。所有生成的模型及捕获的图像均已在项目网站上公开提供。