Dataset Open Access
Andrey Rudenko;
Tomasz Piotr Kucner;
Chittaranjan Sriniva Swaminathan SWAMINATHAN;
Ravi Teja Chadalavada;
Kaj O. Arras;
Achim J. Lilienthal
THÖR is a dataset with human motion trajectory and eye gaze data collected in an indoor environment with accurate ground truth for the position, head orientation, gaze direction, social grouping and goals. THÖR contains sensor data collected by a 3D lidar sensor and involves a mobile robot navigating the space. In comparison to other, our dataset has a larger variety in human motion behaviour, is less noisy, and contains annotations at higher frequencies.
The dataset includes 13 separate recordings in 3 variations:
THOR - people tracks is the part of THÖR data set containing ground truth position of people in the environment, including information about head orientation. The data are available in three formats:
MAT files
TSV files
Reference:
For more details check project website thor.oru.se or check our publications:
@article{thorDataset2019,
title={TH\"OR: Human-Robot Indoor Navigation Experiment
and Accurate Motion Trajectories Dataset},
author={Andrey Rudenko and Tomasz P. Kucner and
Chittaranjan S. Swaminathan and Ravi T. Chadalavada
and Kai O. Arras and Achim J. Lilienthal},
journal={arXiv preprint arXiv:1909.04403},
year={2019}
}
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ex1_run1_qualisys.bag
md5:942ae0ef5051406e128099a4cb94032f |
19.8 MB | Download |
ex1_run2_qualisys.bag
md5:53ffd6fd55021cb682fb422721bdde60 |
17.4 MB | Download |
ex1_run3_qualisys.bag
md5:408941d0110816ad1ca2b443f194a6b5 |
17.8 MB | Download |
ex1_run4_qualisys.bag
md5:c924eabb786035545876ac4d271bb549 |
24.2 MB | Download |
ex2_run5_qualisys.bag
md5:e2e3592793af689ef88fccb869f97a41 |
36.5 MB | Download |
ex3_run1_qualisys.bag
md5:77f117313dd30a4113f2d8137bc69cd0 |
24.6 MB | Download |
ex3_run2_qualisys.bag
md5:2e3897be182dab7bc9e430e41f71ebf4 |
24.6 MB | Download |
ex3_run3_qualisys.bag
md5:0bf68aa5c364c04986d3fdf3c047ff34 |
24.3 MB | Download |
ex3_run4_qualisys.bag
md5:3eb451bbea32afd324ef6465bd409ab7 |
21.1 MB | Download |
Exp_1_run_1.mat
md5:802dce08b9eb362d6e5fd547fbd5f7cb |
106.7 MB | Download |
Exp_1_run_1.tsv
md5:194c74b1767a1741c677ce3b86f22c7a |
34.8 MB | Download |
Exp_1_run_1_6D.tsv
md5:07d27e615760b52a44b8e6f29f7a843a |
50.4 MB | Download |
Exp_1_run_2.mat
md5:7b32cfafb052f184fb226d7634002084 |
80.9 MB | Download |
Exp_1_run_2.tsv
md5:85c3fe1c57c7a9b969d564731b626672 |
27.0 MB | Download |
Exp_1_run_2_6D.tsv
md5:917f578199d6e899b94d04093c3658c4 |
39.1 MB | Download |
Exp_1_run_3.mat
md5:0107e0683151ad2ab44c68d9065c6d7d |
86.8 MB | Download |
Exp_1_run_3.tsv
md5:1865a74593b55d5e6dd06d010b3b598c |
28.8 MB | Download |
Exp_1_run_3_6D.tsv
md5:498b11b242877a11be0ee6c68f0b676c |
41.7 MB | Download |
Exp_1_run_4.mat
md5:a03fa06cac84deb86621a40c9e6e6426 |
99.5 MB | Download |
Exp_1_run_4.tsv
md5:a7a4c6fd66bdb979dda602398eb431ab |
34.1 MB | Download |
Exp_1_run_4_6D.tsv
md5:46594cfc5a5067de30d99804c352fb81 |
49.2 MB | Download |
Exp_2_run_1.mat
md5:7f79875902de930c794727825c557b69 |
93.3 MB | Download |
Exp_2_run_1.tsv
md5:4ad9a8459735f154e967231cc3bc3ef1 |
33.1 MB | Download |
Exp_2_run_1_6D.tsv
md5:c8ca6ab922036601e95de083d4fa387b |
43.6 MB | Download |
Exp_2_run_2.mat
md5:8997c06f57632b8b5f1c34f53982c12f |
85.9 MB | Download |
Exp_2_run_2.tsv
md5:75c14bfda4c2dbf9108e0610b51fbca4 |
30.6 MB | Download |
Exp_2_run_2_6D.tsv
md5:17196097564662ca2b72663b8d0a8a3e |
40.1 MB | Download |
Exp_2_run_3.mat
md5:2e79fda8287a7b5f6b2f841a50fe2d48 |
95.0 MB | Download |
Exp_2_run_3.tsv
md5:10700da6296cde9a7c314e98da3203cc |
33.8 MB | Download |
Exp_2_run_3_6D.tsv
md5:c8e5bb88c35dc1bb5a6c573b21bf2326 |
44.4 MB | Download |
Exp_2_run_4.mat
md5:597bc305cd0c15a930a7f6980ba94a64 |
92.5 MB | Download |
Exp_2_run_4.tsv
md5:2e2b9cc92990ac79e63806796547ff04 |
33.0 MB | Download |
Exp_2_run_4_6D.tsv
md5:4df7fcd3bf23c1ce7886d1b2beb0b169 |
43.6 MB | Download |
Exp_2_run_5.mat
md5:d6793dd1d2dbb7cfaf4ecf41b4870d54 |
164.3 MB | Download |
Exp_2_run_5.tsv
md5:aa75966a3b9f4702a30c81dc9c2f2e04 |
58.3 MB | Download |
Exp_2_run_5_6D.tsv
md5:7781a25bfcce06cbefe72110c024c25b |
76.5 MB | Download |
Exp_3_run_1.mat
md5:021c2995c2700be281378b65ad9f9fcd |
104.4 MB | Download |
Exp_3_run_1.tsv
md5:e7a8da85deb7fb709e45a2f9417b0912 |
37.4 MB | Download |
Exp_3_run_1_6D.tsv
md5:127632238e26882c62a394e16c6d7c45 |
49.1 MB | Download |
Exp_3_run_2.mat
md5:5c3318d97ad433b64f6ac2042f88f999 |
96.4 MB | Download |
Exp_3_run_2.tsv
md5:f8ec8701fbae4b14634b8d3c5c2095cd |
35.4 MB | Download |
Exp_3_run_2_6D.tsv
md5:a5e84ec071971dd451f48b7a9af66b48 |
46.0 MB | Download |
Exp_3_run_3.mat
md5:1534734102cfa20c4e721cc8fe1a54d4 |
97.3 MB | Download |
Exp_3_run_3.tsv
md5:1433f2a8c350f328f71b40ccff46b8ef |
36.5 MB | Download |
Exp_3_run_3_6D.tsv
md5:cfe42dc2e4373ae407f8a7c474172f6c |
44.5 MB | Download |
Exp_3_run_4.mat
md5:8a212b86f3a7b443b7ce7667a590d422 |
92.0 MB | Download |
Exp_3_run_4.tsv
md5:d043e843428f19e9c814d55cacc8ab90 |
33.5 MB | Download |
Exp_3_run_4_6D.tsv
md5:3015b782f23228a286102a78ee2f7710 |
43.0 MB | Download |
All versions | This version | |
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Views | 658 | 658 |
Downloads | 1,168 | 1,168 |
Data volume | 69.8 GB | 69.8 GB |
Unique views | 578 | 578 |
Unique downloads | 181 | 181 |