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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    <subfield code="a">&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;</subfield>
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