THÖR DATASET

Tracking Human Motion at Örebro University

THÖR is a public dataset of human motion trajectories, recorded in a controlled indoor experiment.

About

We present THÖR: a dataset of motion trajectories with diverse and accurate social human motion data in a shared indoor environment

Overview

  • High variety of human behavior and social interactions between individuals, groups of people and a mobile robot in presence of static obstacles
  • Over 60 minutes of continuous motion tracking
  • Over 600 individual and group trajectories between multiple goal points
  • Accurate data for position and 3D head orientation, recorded with a motion capture system at 100 Hz
  • Eye gaze data at 50 Hz with the gaze-overlaid first-person video at 25 Hz
  • 3D LiDAR scans from a stationary sensor
  • Video recording from a static camera
  • Map of static obstacles, goal coordinates, grouping information
  • Several recordings with varying obstacles and motion of the robot

Updates

  • 11.09.19 The THÖR dataset is published online

Setup

Data

Overview

Recorded data includes motion capture files as Matlab structures and csv files, velodyne sweeps, ros bags from the motion capture system. We also share the Matlab scripts for loading, plotting and animating the motion capture data. We thoroughly inspected the motion capture data and manually cleaned it to remove occasional helmet ID switches and recover several lost tracks. Afterwards we applied an automated procedure to restore the lost positions of the helmets from incomplete set of recognized markers (included as a Matlab script).


The dataset includes 13 separate recordings in 3 variations:

  • ``One obstacle" - features one obstacle in the environment and no robot
  • ``Moving robot" - features one obstacle in the environment and the moving robot
  • ``Three obstacls" - features three obstacle in the environment and no robot

Downloads

Name Details Notes
THÖR - people tracks
https://zenodo.org/record/3382145
mat
Tracks of helmets and other tracked objects. Contains translations and rotations of all tracked rigid bodies.
bag
Contains geometry_msgs/PoseStamped messages for all tracked bodies. This was generated from the .mat file above.
tsv
Tracks of helmets and other tracked objects. Contains translations and rotations of all tracked rigid bodies.
THÖR - point clouds
https://zenodo.org/record/3405915
bag
Contains 'velodyne_packets' from velodyne 3D LIDAR used in the experiments. 3D pointclouds need to be transformed to the Qualisys frame.
bag
Use thor_velodyne_utils to visualize nicely. Due to technical errors, for experiments 2.1 to 2.4, no velodyne data is available.
THÖR - eye-tracking
https://zenodo.org/record/3460326
mat/xlsx/tsv
Data of the participant (Helmet number 9) from the Tobii Glasses included in this dataset.
THÖR - videos
https://zenodo.org/record/3460125
mp4
Videos recorded during data collection from stationary camera and an eye tracker.
To obtain the access to the data please motivate your request and also present your strategy to protect it according to GDPR standards.
THÖR - extras
https://github.com/OrebroUniversity/thor_extras
Scripts related to visualizing velodyne and Qualisys data in RViz.

License

Cite

Please use this citation when referencing THÖR:


@article{thorDataset2019,
  title={TH{\"O}R: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset},  author={Rudenko, Andrey and Kucner, Tomasz P and Swaminathan, Chittaranjan S and Chadalavada, Ravi T and Arras, Kai O and Lilienthal, Achim J},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={2},
  pages={676--682},
  year={2020},
  publisher={IEEE}
}

                                

Find out more in the RA-L/ICRA 2020 publication: https://arxiv.org/abs/1909.04403

Authors

Please contact us with any feedback, questions, or comments by email.

Andrey Rudenko


andrey.rudenko@de.bosch.com

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden

Bosch Corporate Research
71272 Renningen, Germany

mro.oru.se/people/andrey-rudenko/

Tomasz Piotr Kucner


tomasz.kucner@oru.se

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden

mro.oru.se/people/tomasz-kucner/

Chittaranjan Srinivas Swaminathan


chittaranjan.swaminathan@oru.se

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden

mro.oru.se/people/chittaranjan-swaminathan/

Ravi Teja Chadalavada


ravi.chadalavada@oru.se

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden

mro.oru.se/people/ravi-chadalavada/

Kai Oliver Arras


kaioliver.arras@de.bosch.com

Bosch Corporate Research
71272 Renningen, Germany

http://www.bosch.com/research/know-how/research-experts/dr-kai-oliver-arras/

Achim J. Lilienthal


achim.lilienthal@oru.se

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden

mro.oru.se/people/achim-lilienthal/

Funding

ILIAD

This work has been partly funded from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 732737 (ILIAD)


AIR

This work has been partly funded by the Swedish Knowledge Foundation under contract number 20140220 (AIR)