THOR - point clouds

THÖR is a dataset with human motion trajectory and eye gaze data collected in an indoor environment with accurate ground truth for the position, head orientation, gaze direction, social grouping and goals. THÖR contains sensor data collected by a 3D lidar sensor and involves a mobile robot navigating the space. In comparison to other, our dataset has a larger variety in human motion behaviour, is less noisy, and contains annotations at higher frequencies. The dataset includes 9 separate recordings in 3 variations: ``One obstacle" - features one obstacle in the environment and no robot ``Moving robot" - features one obstacle in the environment and the moving robot ``Three obstacles" - features three obstacles in the environment and no robot THOR - point clouds is the part of THÖR data set containing bag files with 3D scans collcted during the experiments. Reference: For more details check project website thor.oru.se or check our publications: @article{thorDataset2019,
title={TH\"OR: Human-Robot Indoor Navigation Experiment
and Accurate Motion Trajectories Dataset},
author={Andrey Rudenko and Tomasz P. Kucner and
Chittaranjan S. Swaminathan and Ravi T. Chadalavada
and Kai O. Arras and Achim J. Lilienthal},
journal={arXiv preprint arXiv:1909.04403},
year={2019}
}

THÖR是一款在室内环境中采集的数据集，涵盖人体运动轨迹与视线注视数据，包含位置、头部朝向、注视方向、社交群组及目标的精确真值标注。该数据集包含由三维激光雷达（3D lidar）采集的传感器数据，场景涉及一台移动机器人在空间内导航。相较于其他同类数据集，本数据集的人体运动行为类型更为丰富，噪声水平更低，且标注频率更高。
数据集包含9组独立录制内容，共分为3种场景变体：
1. "单障碍物场景"：环境中仅存在一个障碍物，无移动机器人；
2. "移动机器人场景"：环境中存在一个障碍物，并搭载移动机器人进行导航；
3. "三障碍物场景"：环境中存在三个障碍物，无移动机器人。
THOR点云（THOR - point clouds）是THÖR数据集的子集，包含实验过程中采集三维扫描数据的bag文件。
参考文献：如需了解更多细节，请访问项目网站thor.oru.se，或参阅以下发表成果：
@article{thorDataset2019,
title={THÖR: Human-Robot Indoor Navigation Experiment and Accurate Motion Trajectories Dataset},
author={Andrey Rudenko and Tomasz P. Kucner and Chittaranjan S. Swaminathan and Ravi T. Chadalavada and Kai O. Arras and Achim J. Lilienthal},
journal={arXiv预印本 arXiv:1909.04403},
year={2019}
}

搜集汇总

背景与挑战

背景概述

THOR - point clouds数据集是THÖR数据集的一个子集，包含在室内环境中通过3D激光雷达传感器收集的点云数据。该数据集以其高质量、低噪声和丰富的人类运动行为变体而著称，适用于人机交互和社会机器人研究。数据集包含9个记录，覆盖三种不同的实验场景。