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Dataset Open Access

THÖR - eye-tracking

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.

THÖR eye-tracking - data of the participant (Helmet number 9) from the Tobii Glasses included in this dataset. The entire data from the experiment was recorded into two recordings - "Recording011" and "Recording012".

The folder "RawData" consists of exported data from Tobii Pro Lab software using a filter called "Tobii-IVT Attention filter" (velocity threshold parameter set to 100 degrees/second), which is a recommended method for dynamic situations. The recommendation was given by the equipment manufactures Tobii Pro and from other researchers. For further information, please refer to https://www.tobiipro.com/siteassets/tobii-pro/user-manuals/Tobii-Pro-Lab-User-Manual/?v=1.86 (Appendix-B, page 85).

The recording start times are as follows:
Tobii recording011 starttime: 13:34:37.267
Tobii recording012 starttime: 14:36:17.730


The folder "SynchronisedData" of  "ALL_Qualisys_Tobii.mat" file, which consists of all the synchronised data between Qualisys data and Tobii eye-tracker data using timestamps matching. The columns (headers) in this mat file respectively represent - 'Timestamp', 'Pos_X', 'Pos_Y', 'Pos_Z', 'Head_R', 'Head_P', 'Head_Y','GazepointX', 'GazepointY', 'Gaze3DpositioncombinedX', 'Gaze3DpositioncombinedY', 'Gaze3DpositioncombinedZ', 'Gaze3DpositionleftX', 'Gaze3DpositionleftY', 'Gaze3DpositionleftZ', 'Gaze3DpositionrightX', 'Gaze3DpositionrightY', 'Gaze3DpositionrightZ', 'GazedirectionleftX', 'GazedirectionleftY', 'GazedirectionleftZ', 'GazedirectionrightX', 'GazedirectionrightY', 'GazedirectionrightZ', 'PupilpositionleftX', 'PupilpositionleftY', 'PupilpositionleftZ', 'PupilpositionrightX', 'PupilpositionrightY', 'PupilpositionrightZ', 'Pupildiameterleft', 'Pupildiameterright', 'Recordingmedianame', 'Recordingmediawidth', 'Recordingmediaheight', 'Gazeeventduration', 'Eyemovementtypeindex', 'FixationpointX', 'FixationpointY', 'GyroX', 'GyroY', 'GyroZ', 'AccelerometerX', 'AccelerometerY', 'AccelerometerZ'.

'Timestamp', 'Pos_X', 'Pos_Y', 'Pos_Z', 'Head_R', 'Head_P', 'Head_Y','GazepointX', 'GazepointY' represent the timestamps (matched to Tobii timestamps using nearest neighbor search), position and head orientation from Qualisys data and rest of the data is from Tobii eye-tracker. For more information regarding the eye-tracker data, please refer to https://www.tobiipro.com/siteassets/tobii-pro/user-manuals/Tobii-Pro-Lab-User-Manual/?v=1.86 (Section 8.7.2.1, page 68).

 

 

Files (581.1 MB)
Name Size
ALL_Qualisys_Tobii.mat
md5:80d298c98efa558801e57b3d1b7f0bb5
8.8 MB Download
Recording011_IVT-Attention.xlsx
md5:036f3940f8fcd0aecbf4bf2056d7d00f
188.5 MB Download
Recording012_IVT-Attention.xlsx
md5:f247fa042c10b964456f2fa113b63b76
46.1 MB Download
THOR Dataset Recording011.tsv
md5:f199b51aee426e77d7efdbae4af371a5
212.6 MB Download
THOR Dataset Recording012.tsv
md5:3263a33886a95355c67f2db98c023cfe
125.2 MB Download
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