ODDS: Real-Time Object Detection using Depth Sensors on Embedded GPUs

                                                 ODDS Smart Building Depth Dataset

#Introduction:

The goal of this dataset is to facilitate research focusing on recognizing objects in smart buildings using the depth sensor mounted at the ceiling. This dataset contains annotations of depth images for eight frequently seen object classes. The classes are: person, backpack, laptop, gun, phone, umbrella, cup, and box.

#Data Collection:

We collected data from two settings. We had Kinect mounted at a 9.3 feet ceiling near to a 6 feet wide door. We also used a tripod with a horizontal extender holding the kinect at a similar height looking downwards. We asked about 20 volunteers to enter and exit a number of times each in different directions (3 times walking straight, 3 times walking towards left side, 3 times walking towards right side) holding objects in many different ways and poses underneath the Kinect. Each subject was using his/her own backpack, purse, laptop, etc. As a result, we considered varieties within the same object, e.g., for laptops, we considered Macbooks, HP laptops, Lenovo laptops of different years and models, and for backpacks, we considered backpacks, side bags, and purse of women. We asked the subjects to walk while holding it in many ways, e.g., for laptop, the laptop was fully open, partially closed, and fully closed while carried. Also, people hold laptops in front and side of their bodies, and underneath their elbow. The subjects carried their backpacks in their back, in their side at different levels from foot to shoulder. We wanted to collect data with real guns. However, bringing real guns to the office is prohibited. So, we obtained a few nerf guns and the subjects were carrying these guns pointing it to front, side, up, and down while walking.

#Annotated Data Description:

The Annotated dataset is created following the structure of Pascal VOC devkit, so that the data preparation becomes simple and it can be used quickly with different with object detection libraries that are friendly to Pascal VOC style annotations (e.g. Faster-RCNN, YOLO, SSD).  The annotated data consists of a set of images; each image has an annotation file giving a bounding box and object class label for each object in one of the eight classes present in the image. Multiple objects from multiple classes may be present in the same image. The dataset has 3 main directories:

1)DepthImages: Contains all the images of training set and validation set. 

2)Annotations: Contains one xml file per image file, (e.g., 1.xml for image file 1.png). The xml file includes the bounding box annotations for all objects in the corresponding image. 

3)ImagesSets: Contains two text files training_samples.txt and testing_samples.txt. The training_samples.txt file has the name of images used in training and the testing_samples.txt has the name of images used for testing. (We randomly choose 80%, 20% split)

#UnAnnotated Data Description:

The un-annotated data consists of several set of depth images. No ground-truth annotation is available for these images yet. These un-annotated sets contain several challenging scenarios and no data has been collected from this office during annotated dataset construction. Hence, it will provide a way to test generalization performance of the algorithm.

#Citation:

If you use ODDS Smart Building dataset in your work, please cite the following reference in any publications:
@inproceedings{mithun2018odds,
title={ODDS: Real-Time Object Detection using Depth Sensors on  Embedded GPUs},
author={Niluthpol Chowdhury Mithun and Sirajum Munir and Karen Guo and Charles Shelton},
booktitle={ ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN)},
year={2018},
}