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

1. "Synchronized_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', 'Gazepoint3D_X', 'Gazepoint3D_Y', 'Gazepoint3D_Z', 'Gazedirectionleft_X', 'Gazedirectionleft_Y', 'Gazedirectionleft_Z', 'Gazedirectionright_X',    'Gazedirectionright_Y', 'Gazedirectionright_Z',    'Pupilpositionleft_X', 'Pupilpositionleft_Y', 'Pupilpositionleft_Z', 'Pupilpositionright_X', 'Pupilpositionright_Y', 'Pupilpositionright_Z', 'Pupildiameterleft', 'Pupildiameterright', 'Gazeeventduration', 'Eyemovementtype_index', 'Fixationpoint_X', 'Fixationpoint_Y', 'Gyro_X', 'Gyro_Y', 'Gyro_Z', 'Accelerometer_X', 'Accelerometer_Y', 'Accelerometer_Z'.

2. A matlab script "Synchronizing_Qualisys_Tobii.m" used for matching the timestamps of Qualisys and Tobii and generate a data file "Synchronized_Qualisys_Tobii.mat" that can be found it git repository.

3. All the associated data required for running the matlab script.

Please note that '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 (1.9 GB)
Name Size
Ex_1_run_1.mat
md5:4ce06832cd6acd8a5bfcadef3ae8ab3b
106.7 MB Download
Ex_1_run_2.mat
md5:875adab5aa0c8312566b05cee3e50078
80.9 MB Download
Ex_1_run_3.mat
md5:a0a8f0f73e7f62f5222c3d2ceaeab87d
86.8 MB Download
Ex_1_run_4.mat
md5:f48771fcaa37feb765a222b6e0023875
99.5 MB Download
Ex_2_run_1.mat
md5:b062b04c78af803fe0ddcd5acc1699b2
93.3 MB Download
Ex_2_run_2.mat
md5:d4b29f4240a8f9e7cd5796857c363c15
85.9 MB Download
Ex_2_run_3.mat
md5:726886c63deee2ff34de2404d83d8680
95.0 MB Download
Ex_2_run_4.mat
md5:34e2ec59f91b858876fbc1964adeac0b
92.5 MB Download
Ex_2_run_5.mat
md5:20e7ccbb4568d619aed8b291c7f84f5e
164.3 MB Download
Ex_3_run_1.mat
md5:c79d5bbb83bdef8aa731f1d3bfd5e3d0
104.4 MB Download
Ex_3_run_2.mat
md5:11fd7cebe62ff2513259453b32b06ac1
96.4 MB Download
Ex_3_run_3.mat
md5:5d5c02ccc5d674c860c71c525dd55e90
97.3 MB Download
Ex_3_run_4.mat
md5:856e5f9c77d8afa8b3371af972692b20
92.0 MB Download
Synchronized_Qualisys_Tobii.mat
md5:ae03c8de01ab3f8f53994bc91a13ba35
8.7 MB Download
THOR Dataset Recording011.tsv
md5:5df60629f4d7ed07cddfb8b90b40dd35
212.6 MB Download
THOR Dataset Recording011.xlsx
md5:7472f920abeb07c1dc4f76d1cb87b7a2
35.9 MB Download
THOR Dataset Recording012.tsv
md5:d0ad56dd0bb90158b52361875dfa2a41
125.2 MB Download
THOR Dataset Recording012.xlsx
md5:851c5a69d36bb85bf40dd7b4f6b6f3c6
21.8 MB Download
THORDatasetRecording011_Filtered_2019-09-18.xlsx
md5:47dee98b5fb3ddd8e02bad4561ababae
125.5 MB Download
THORDatasetRecording011Filtered20190918.mat
md5:c55aa5249ca0e65619cfc7d6369dfb74
28.4 MB Download
THORDatasetRecording012_Filtered_2019-09-18.xlsx
md5:45fa80d25a94e2f616f65721c69ae75f
75.2 MB Download
THORDatasetRecording012Filtered20190918.mat
md5:bd666a8918ec61ebba4724bcdbd63071
17.2 MB Download
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