Pulse Rate Detection Dataset - PURE



This data set consists of 10 persons performing different, controlled head motions in front of a camera. During these sentences the image sequences of the head as well as reference pulse measurements were recorded.

The 10 persons (8 male, 2 female) that were recorded in 6 different setups resulting in a total number of 60 sequences of 1 minute each.

Recording Setup

The videos were captured with a eco274CVGE camera by SVS-Vistek GmbH at a frame rate of 30 Hz with a cropped resolution of 640x480 pixels and a 4.8mm lens. Reference data have been captured in parallel using a finger clip pulse oximeter (pulox CMS50E) that delivers pulse rate wave and SpO2 readings with a sampling rate of 60 Hz.

The test subjects were placed in front of the camera with an average distance of 1.1 meters.  Lighting condition was daylight trough a large window frontal to the face with clouds changing llumination conditions slightly over time.

The six different setups were as follows:


The subject was sitting still and looks directly into the camera avoiding head motion.


Simulated video sequence, where the subjects were asked to talk while avoiding additional head motion. This setup equals a video conference situation in a real robot application.

Slow Translation

These sequences comprise head movements parallel to the camera plane. Therefore, the images recorded by the camera were displayed on screen and shown to the subjects. A moving rectangle of the size of the face was added to the image, and the subjects were asked to keep their face inside. The rectangle was moving horizontally at a controlled speed and with a predefined pattern, thus the sequences of all individuals are repeatable. The average speed was 7% of the face height per second, where the average face height was 100 pixels.

Fast Translation

This dataset has the same setup as slow translation, except twice the speed of the moving target.

Small Rotation

This setup comprises different targets that were placed at 35 cm around the camera. The subjects were told to look at these targets in a predefined sequence. They were asked to move not only there eyes but orient their head. See Fig. \ref{fig:setup} for an impression of the setup. The one minute sequence of the targets is shown in the little clock in the figure. Random times ensure that the motion artifacts are not periodically. Depending on the distance between the camera and the subject, that roughly varies between 1 m and 1.3 m, the head rotation angles are round about 20°.

Medium Rotation

These sequences had the same setup as for small rotation, but with targets placed 70 cm around the camera resulting in average head angle of 35°.

The pulse rate of the test persons varies slightly between and during sequences that do have a length of 1 Minute each. Minimum pulse rate measured using the oximeter is at 42 BPM and the maximum rate was 148 BPM. Although, we have had very high pulse rates from one subject, all  recording were taken during rest.


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

Stricker, R., Müller, S., Gross, H.-M.
Non-contact Video-based Pulse Rate Measurement on a Mobile Service Robot
in: Proc. 23st IEEE Int. Symposium on Robot and Human Interactive Communication (Ro-Man 2014), Edinburgh, Scotland, UK, pp. 1056 - 1062, IEEE 2014


Please contact nikr-datasets-request@tu-ilmenau.de for requests.