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INHALTE

People Detection in 2D Laser Range Data

Data Set

Description

This data set contains 2D laser range data for detecing people in different environments (rehabitation center, home environment) captured by our mobile robot platforms ScitosA5 and ScitosG3.

Citations

If you consider using the data sets on this page, please reference the following:

Weinrich, Ch., Wengefeld, T., Schroeter, Ch., Gross, H.-M.:
People Detection and Distinction of their Walking Aids in 2D Laser Range Data based on Generic Distance-Invariant Features
to appear: Proc. IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN  2014), pp. ..., IEEE 2014

Download

The data sets can be downloaded from here.

File format:

The data sets are given as text files in the same format as the SPINELLO data set
Each line of a file represents a single scan:

ID1 X11 Y11 L11 X12 Y12 L12 ... X1N Y1N L1N
ID2 X21 Y21 L21 X22 Y22 L22 ... X2N Y2N L2N
...
IDM XM1 YM1 LM1 XM2 YM2 LM2 ... XMN YMN LMN

ID is the numeric identifier of the scan (ignored), Xp and Yp are the cartesian coordinates of the point p, Lp is the binary label of point p (0 if people -- 1 if background). The value of Lp is ignored when the file is read for people detection.

Copyright and License Information

Copyright 2014 by Christoph Weinrich and Horst-Michael-Groß 

Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.

THE DATA SET IS PROVIDED WITHOUT ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE DATA SET PROVIDED IS ON AN "AS IS" BASIS, AND THE AUTHORS HAVE NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.

Code

Gandalf - Generic ANd Distance-invAriant Laser Features

MIRA package Gandalf detector

The Gandalf detector was originally developed on MIRA. The MIRA package is not public yet.

ROS package Gandalf detector

The Gandalf detector has been ported to ROS. The source code with example data is published as github repository.

The provided code corresponds to our RO-MAN 2014 paper. When using this software for your own research, please acknowledge the effort that went into its construction by citing the corresponding paper.

Weinrich, Ch., Wengefeld, T., Schroeter, Ch., Gross, H.-M.:
People Detection and Distinction of their Walking Aids in 2D Laser Range Data based on Generic Distance-Invariant Features
to appear: Proc. IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN 2014), pp. ..., IEEE 2014

Disclaimer

THIS CODE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. Use at your own risk.

License

The software is released as Open Source under the GPLv3 licence. A copy of the licence can be found in the LICENSE that is included with this software.