We label 3 types of attribute (color, shape and material) for objects in RGB-D object dataset.
Table1: Table of used attribute types and values
Colorblack, blue, brown, gray, green, orange, pink, purple, red, transparent, white, yellow
Shapearch, bag, bowl, circular, cuboid, cylinder, ellipsoid, rectangle
Materialceramic, fabric, foam, glass, metal, natural, paper, plastic


Each file contains a list of (name of object, attribute value) pairs. It shoulde be noticed that the length of the list doesn't equal the number of objects in RGB-D dataset (300 objects). That's because we only include objects whose attributes are not ambigurious.

Color (230 labeled objects)

Shape (268 labeled objects)

Material (261 labeled objects)

Object Name Hierarchy

Object Hierarchy