THÖR DATASET

Environment

The dataset was recorded in a spacious laboratory room of 8.4x18.8 m and the adjacent utility room, separated by a glass wall. The laboratory room, where the motion capture system is installed, is mostly empty to allow for maneuvering of large groups, but also includes several constrained areas where obstacle avoidance and the choice of homotopy class is necessary. Goal positions are placed to force navigation along the room and generate frequent interactions in its center, while the placement of obstacles prevents walking between goals on a straight line.

Motion Capture system

To track the motion of the agents we used the Qualisys Oqus 7+ motion capture system with 10 infrared cameras, mounted on the perimeter of the room. For people tracking, the reflective markers have been arranged in distinctive 3D patterns on the bicycle helmets. There are 9 helmets in this dataset, marked from 2 to 10.

Eye tracking

For recording gaze directions, we used Tobii Pro Glasses mobile tracking headset. The gaze sampling frequency of Tobii Pro Glasses is 50 Hz. It also has a scene camera which records the video at 25 fps. A gaze overlaid version of this video is included in this dataset

Stationary sensors

Stationary 3D LiDAR was placed in the corner of the room on the height of 1.58 m, synchronized in time with the Qualisys system and the eye-tracking glasses. In the opposite corner, a stationary camera was placed.

Robot

The robot, used in our experiment, is a small forklift Linde CitiTruck robot with a footprint of 1.56 x 0.55 meter and 1.17 meter high. It was programmed to move in a socially unaware manner, following a pre-defined path around the room and adjusting neither its speed nor trajectory to account for surrounding people. The robot was navigating with a maximal speed of 0.34 m/s and projecting its current motion intent on the floor in front of it using a mounted beamer.

Experiment description

In order to collect motion data relevant for a broad spectrum of research areas, we have designed an experiment that encourages social interactions between individuals, groups of people and with the robot. The interactive setup assigns social roles and tasks so as to imitate typical activities found in populated spaces such as offices, train stations, shopping malls or airports. Its goal is to motivate participants to engage into natural and purposeful motion behaviors as well as to create a rich variety of unscripted interactions.
There are three social roles in our experiment:

• Visitors navigate alone and in groups of up to 5 people between four goal positions in the room. At each goal they take a random card, indicating the next target. There are 6 visitors in our experiment.
• Workers receive and carry large boxes between the laboratory and the utility room. The workers wear a yellow reflective vest. There are 2 workers in our experiment, one carrying the boxes from the laboratory to the unity room, and the other vice versa.
• Inspector is navigating alone between many additional targets in the environment, indicated by a QR-code, in no particular order and stops at each target to scan the code. There is one inspector in our experiment.