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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        "affiliation": "AASS, \u00d6rebro University, Sweden", 
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        "affiliation": "AASS, \u00d6rebro University, Sweden", 
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    "description": "<p><strong>TH&Ouml;R</strong> 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&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.</p>\n\n<p>The dataset includes 9 separate recordings in 3 variations:</p>\n\n<ul>\n\t<li>``One obstacle&quot; - features one obstacle in the environment and no robot</li>\n\t<li>``Moving robot&quot; - features one obstacle in the environment and the moving robot</li>\n\t<li>``Three obstacles&quot; - features three obstacles in the environment and no robot</li>\n</ul>\n\n<p><strong>THOR - point clouds </strong>is the part of TH&Ouml;R data set containing bag files with 3D scans collcted during the experiments.</p>\n\n<p><strong>Reference:</strong></p>\n\n<p>For more details check project website <a href=\"http://thor.oru.se\">thor.oru.se</a> or check our publications:</p>\n\n<pre><code>@article{thorDataset2019,\ntitle={TH\\\"OR: Human-Robot Indoor Navigation Experiment\nand Accurate Motion Trajectories Dataset},\nauthor={Andrey Rudenko and Tomasz P. Kucner and\nChittaranjan S. Swaminathan and Ravi T. Chadalavada\nand Kai O. Arras and Achim J. Lilienthal},\njournal={arXiv preprint arXiv:1909.04403},\nyear={2019}\n}</code></pre>"
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