Dataset for evaluation of range-based people tracker classifiers in mobile robots

This dataset can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained in the dataset is especially suitable to be used as test data for neural network-based classifiers. This dataset contains 25 Rosbag files recorded in different locations with Orbi-One robot stood still. Two sorts of Rosbag files have been recorded. In 17 Rosbag files (1-17), there were people stood still in the scene. They were placed in known locations to get ground-truth data. The locations where the people were placed for each rosbag are the following: 1.bag: [1]<br> 2.bag: [1, 2]<br> 3.bag: [1, 2, 3]<br> 4.bag: [2, 3, 4]<br> 5.bag: [1, 2, 4]<br> 6.bag: [5, 6, 7]<br> 7.bag: [6, 7]<br> 8.bag: [6, 7, 8]<br> 9.bag: [11, 12, 13, 14]<br> 10.bag: [11, 12, 13, 14, 15]<br> 11.bag: [11, 12, 13]<br> 12.bag: [13, 15]<br> 13.bag: [14, 15]<br> 14.bag: [10, 11]<br> 15.bag: [11]<br> 16.bag: [6]<br> 17.bag: [6, 7] The (x, y) positions of each point on the map are the following: 1: [1.30, 0.76]<br> 2: [2.10, 1.56]<br> 3: [2.90, 1.16]<br> 4: [3.70, 0.55]<br> 5: [6.53, 1.75]<br> 6: [7.73, 1.16]<br> 7: [8.93, 1.75]<br> 8: [9.73, 0.75]<br> 9: [14.16, 1.14]<br> 10: [15.36, 0.14]<br> 11: [16.56, 1.76]<br> 12: [16.96, 0.14]<br> 13: [17.76, 0.54]<br> 14: [18.16, 1.54] The remaining 8 Rosbag files (18-25) were recorded without people in the scene in order to evaluate the True Negatives rate.本数据集可用于评估基于激光雷达（LiDAR）传感器的人员检测与跟踪各类方法的性能。数据集包含的信息尤其适合作为基于神经网络的分类器的测试数据。 本数据集共包含25个ROS数据包（Rosbag）文件，录制于不同场景，录制过程中Orbi-One机器人处于静止状态。本次录制共生成两类ROS数据包文件：其中17个文件（编号1至17）的场景中存在静止人员，这些人员被布置在已知位置以获取真值（ground-truth）数据。各ROS数据包文件对应的人员布设位置如下： 1.bag: [1] 2.bag: [1, 2] 3.bag: [1, 2, 3] 4.bag: [2, 3, 4] 5.bag: [1, 2, 4] 6.bag: [5, 6, 7] 7.bag: [6, 7] 8.bag: [6, 7, 8] 9.bag: [11, 12, 13, 14] 10.bag: [11, 12, 13, 14, 15] 11.bag: [11, 12, 13] 12.bag: [13, 15] 13.bag: [14, 15] 14.bag: [10, 11] 15.bag: [11] 16.bag: [6] 17.bag: [6, 7] 地图上各点位的(x,y)坐标如下： 1: [1.30, 0.76] 2: [2.10, 1.56] 3: [2.90, 1.16] 4: [3.70, 0.55] 5: [6.53, 1.75] 6: [7.73, 1.16] 7: [8.93, 1.75] 8: [9.73, 0.75] 9: [14.16, 1.14] 10: [15.36, 0.14] 11: [16.56, 1.76] 12: [16.96, 0.14] 13: [17.76, 0.54] 14: [18.16, 1.54] 剩余的8个文件（编号18至25）的场景中无人员，用于评估真阴性（True Negatives）率。