ExoNet Database: Wearable Camera Images of Human Locomotion Environments

Abstract: Recent advances in computer vision and artificial intelligence have allowed researchers to develop environment recognition systems for robotic lower-limb exoskeletons and prostheses. However, small-scale and private training datasets have impeded the widespread development and dissemination of image classification algorithms for human locomotion environment recognition. To address these shortcomings, we developed “ExoNet” - the first open-source, large-scale hierarchical database of high-resolution wearable camera images of human locomotion environments. Unparalleled in both scale and diversity, ExoNet comprises over 5.6 million images of different indoor and outdoor real-world walking environments, which were collected using a lightweight wearable smartphone camera system during the summer, fall, and winter seasons. Approximately 940,000 images in ExoNet were human-annotated using a 12-class hierarchical labelling architecture. Available publicly through IEEE DataPort, ExoNet offers an unprecedented community-based platform to train, develop, and compare next-generation image classification algorithms for human locomotion environment recognition. Beyond the control of lower-limb exoskeletons and prostheses, applications of ExoNet extend to humanoid and autonomous legged robotics.Reference: Laschowski B, McNally W, Wong A, and McPhee J. (2020). ExoNet Database: Wearable Camera Images of Human Locomotion Environments. In Preparation.