Robot@VirtualHome dataset

The Robot@VirtualHome dataset is a raw collection of data from 30 virtual homes with different appearance obtained through the Robot@VirtualHome ecosystem. Each virtual house imitates a real house, keeping the same room layout and imitating real objects with virtual object models. The objectives of this dataset are: first, to be used as a testbed for diverse algorithms such as semantic mapping through the categorization of objects and/or rooms, active exploration of the environment, localization by appearance, or others where the data presented are of interest, and second to provide a basic example of the results that can be obtained through the Robot@VirtualHome ecosystem. The dataset consists of 113278 captures in 30 houses, with 236 rooms, 2569 objects and 4 different appearance conditions. Each data capture has stored an RGB image, a depth image, a semantic mask image, the measurements from a laser scanner and a log with information about the position at which the data was taken. In addition, for each house we have added the occupancy map obtained with the laser scanner and a log with the ground truth of all objects and rooms. Five raids have been carried out for each house: the first one, capturing data at the nodes of a grid using standard appearance, in the remaining four raids the data were taken by wandering around visiting all the rooms and using different appearance conditions. More detailed information is provided in the article. An API is available here to facilitate access to the dataset data.

Robot@VirtualHome数据集是通过Robot@VirtualHome生态系统采集得到的原始数据集合，涵盖30栋外观各异的虚拟住宅。每一栋虚拟住宅均复刻真实住宅的空间布局，并通过虚拟物体模型还原真实物品。本数据集的构建目标有二：其一，可作为各类算法的测试平台，例如通过物体与/或房间分类实现的语义建图、主动环境探索、外观定位，以及其他可利用本数据集开展研究的算法场景；其二，为展示通过Robot@VirtualHome生态系统可获得的研究结果提供基础范例。该数据集包含30栋住宅中的113278条数据采集记录，涵盖236个房间、2569个物体以及4种不同的外观条件。每条数据采集记录均存储了RGB图像、深度图像、语义掩码图像、激光扫描仪的测量数据，以及记录数据采集位置信息的日志文件。此外，每栋住宅还附带了通过激光扫描仪生成的占用地图，以及包含所有物体与房间真值标注的日志文件。每栋住宅均开展了五次数据采集流程：第一次采用标准外观模式，在网格节点处采集数据；剩余四次则通过遍历所有房间并使用不同外观条件的方式采集数据。更多详细信息可参阅相关学术论文。可通过此处提供的应用程序编程接口（API）便捷访问本数据集的数据。