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People Tracking in Home Environments

People Tracking in Home Environments

Description

This data set contains multi-modal data for people detection and tracking in home environments captured by our mobile robot platform ScitosG3.

Citations

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

  • Volkhardt, M., Weinrich, Ch., Gross, H.-M.: People Tracking on a Mobile Companion Robot. to appear: Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics (IEEE-SMC 2013), Manchester, GB, pp. ..., IEEE 2013

Download

The data sets and labels can be downloaded from here.

The recommended format of the data sets as MIRA Tapes which is the recommended way. These tapes contain all the necessary sensor and robot data used in the paper. To use the tapes you need the open source Middleware for Robotic Applications (MIRA): www.mira-project.org

If you are planning to test pure visual methods, you can download the images of the data sets:

Annotations are given as Bounding Boxes in the pinhole camera and kinect images:

  • Direct Link to Annotations in RGB pinhole images + Kinect Depth data 

Annotations 

Annotations were made using the VATIC video annotation tool

  • Carl Vondrick, Donald Patterson, Deva Ramanan. "Efficiently Scaling Up Crowdsourced Video Annotation" International Journal of Computer Vision (IJCV). June 2012.

Format:

The labels are given as XML files in the format of the VATIC video annotation tool. 
An example annotation for one tape or corresponding image set looks as follows:

<annotations count="4">

<track id="0" label="Person">

<box frame="0" xtl="0" ytl="132" xbr="33" ybr="384" outside="1" occluded="0"></box>

<box frame="1" xtl="0" ytl="132" xbr="33" ybr="384" outside="1" occluded="0"></box>

[...]

<box frame="628" xtl="0" ytl="140" xbr="18" ybr="369" outside="0" occluded="1"></box>

</track>

[...]

<track id="2" label="Person">

<box frame="0" xtl="0" ytl="103" xbr="33" ybr="421" outside="1" occluded="0"></box>

[...]

<box frame="628" xtl="0" ytl="103" xbr="33" ybr="421" outside="1" occluded="0"></box>

</track>

</annotations>

, where count in the annotations tag denotes the number of tracks (people) in the file. Each track contains an id, a label and box annotations for each frame in the data set. The properties in the box tag denote the top left and bottom right point of the bounding box and if the person is outside of the image or occluded. 

Copyright and License Information

Copyright 2013 by Michael Volkhardt 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.