10.5281/zenodo.3408200
https://zenodo.org/records/3408200
oai:zenodo.org:3408200
Andrey Rudenko
Andrey Rudenko
0000-0002-2181-3444
AASS, Örebro University, Sweden
Tomasz Piotr Kucner
Tomasz Piotr Kucner
0000-0002-9503-0602
AASS, Örebro University, Sweden
Chittaranjan Sriniva Swaminathan SWAMINATHAN
Chittaranjan Sriniva Swaminathan SWAMINATHAN
0000-0002-9545-9871
AASS, Örebro University, Sweden
Ravi Teja Chadalavada
Ravi Teja Chadalavada
0000-0002-8380-4113
AASS, Örebro University, Sweden
Kaj O. Arras
Kaj O. Arras
Bosch Corporate Research, Germany
Achim J. Lilienthal
Achim J. Lilienthal
0000-0003-0217-9326
AASS, Örebro University, Sweden
THÖR - eye-tracking
Zenodo
2019
Human Robot Iteraction
Eye Tracking
Social Robotics
People tracking
2019-09-14
eng
10.5281/zenodo.3408199
https://zenodo.org/communities/eu
1.0
Creative Commons Attribution 4.0 International
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).
European Commission
10.13039/501100000780
732737
Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces