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DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Robotic perception from a single viewpoint is often limited by self-occlusion and incomplete surface visibility. This paper presents DARP(Dual-Arm Robotic Perception) https://doi.org/10.21227/rmv3-be47, a calibrated dual-arm RGB-D-IR dataset for object-centered robotic perception using two independently moving eye-in-hand manipulators positioned on opposite sides of a shared tabletop workspace. Each arm carries an Intel RealSense sensor that continuously records RGB, depth, and stereo infrared data while synchronized robot joint states are logged for pose recovery. Objects are placed without f

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