Dataset Open Access

THOR - point clouds

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 9 separate recordings in 3 variations:

  • ``One obstacle" - features one obstacle in the environment and no robot
  • ``Moving robot" - features one obstacle in the environment and the moving robot
  • ``Three obstacles" - features three obstacles in the environment and no robot

THOR - point clouds is the part of THÖR data set containing bag files with 3D scans collcted during the experiments.

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}
}
Files (2.6 GB)
Name Size
ex1_run1.bag
md5:13550f8ebcc90f767f5ccd9bb28c2069 		348.2 MB Download
ex1_run2.bag
md5:400cd7bf9804ea83bb5f9cb7f98802e6 		237.5 MB Download
ex1_run3.bag
md5:07f8f63ce1d68f40e8dd251f2eab02b5 		250.2 MB Download
ex1_run4.bag
md5:82407e17a5ba288576305ec12d7539a9 		258.5 MB Download
ex2_run5.bag
md5:a213dc8e0ad1665bbb4e0320e203ae7d 		458.2 MB Download
ex3_run1.bag
md5:508996f04865df083f88b1228fc1f007 		209.5 MB Download
ex3_run2.bag
md5:24bce31f650aacee4aba2030e568a26b 		270.6 MB Download
ex3_run3.bag
md5:6c7c7ec67b99094ab9b1cfb7e5d42101 		272.4 MB Download
ex3_run4.bag
md5:b5325adb1cef22753387ac26e7887c7d 		250.5 MB Download
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Publication date:
September 12, 2019
DOI:
10.5281/zenodo.3405915

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Keyword(s):
Human Robot Interaction Motion Prediction Social Robotics People Tracking Range data
Grants:
European Commission:
  • ILIAD - Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces (732737)
License (for files):
Creative Commons Attribution 4.0 International

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