Dataset Open Access

THOR - point clouds

Andrey Rudenko; Tomasz Piotr Kucner; Chittaranjan Sriniva Swaminathan SWAMINATHAN; Ravi Teja Chadalavada; Kaj O. Arras; Achim J. Lilienthal


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  <identifier identifierType="DOI">10.5281/zenodo.3405915</identifier>
  <creators>
    <creator>
      <creatorName>Andrey Rudenko</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-2181-3444</nameIdentifier>
      <affiliation>AASS, Örebro University, Sweden</affiliation>
    </creator>
    <creator>
      <creatorName>Tomasz Piotr Kucner</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-9503-0602</nameIdentifier>
      <affiliation>AASS, Örebro University, Sweden</affiliation>
    </creator>
    <creator>
      <creatorName>Chittaranjan Sriniva Swaminathan SWAMINATHAN</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-9545-9871</nameIdentifier>
      <affiliation>AASS, Örebro University, Sweden</affiliation>
    </creator>
    <creator>
      <creatorName>Ravi Teja Chadalavada</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-8380-4113</nameIdentifier>
      <affiliation>AASS, Örebro University, Sweden</affiliation>
    </creator>
    <creator>
      <creatorName>Kaj O. Arras</creatorName>
      <affiliation>Bosch Corporate Research, Germany</affiliation>
    </creator>
    <creator>
      <creatorName>Achim J. Lilienthal</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-0217-9326</nameIdentifier>
      <affiliation>AASS, Örebro University, Sweden</affiliation>
    </creator>
  </creators>
  <titles>
    <title>THOR - point clouds</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <subjects>
    <subject>Human Robot Interaction</subject>
    <subject>Motion Prediction</subject>
    <subject>Social Robotics</subject>
    <subject>People Tracking</subject>
    <subject>Range data</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2019-09-12</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="Dataset"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/3405915</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.3405914</relatedIdentifier>
  </relatedIdentifiers>
  <version>1.0</version>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;&lt;strong&gt;TH&amp;Ouml;R&lt;/strong&gt; 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. TH&amp;Ouml;R 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.&lt;/p&gt;

&lt;p&gt;The dataset includes 9 separate recordings in 3 variations:&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;``One obstacle&amp;quot; - features one obstacle in the environment and no robot&lt;/li&gt;
	&lt;li&gt;``Moving robot&amp;quot; - features one obstacle in the environment and the moving robot&lt;/li&gt;
	&lt;li&gt;``Three obstacles&amp;quot; - features three obstacles in the environment and no robot&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;&lt;strong&gt;THOR - point clouds &lt;/strong&gt;is the part of TH&amp;Ouml;R data set containing bag files with 3D scans collcted during the experiments.&lt;/p&gt;

&lt;p&gt;&lt;strong&gt;Reference:&lt;/strong&gt;&lt;/p&gt;

&lt;p&gt;For more details check project website &lt;a href="http://thor.oru.se"&gt;thor.oru.se&lt;/a&gt; or check our publications:&lt;/p&gt;

&lt;pre&gt;&lt;code&gt;@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}
}&lt;/code&gt;&lt;/pre&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/732737/">732737</awardNumber>
      <awardTitle>Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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