The following data sets contain synchronised thermal and colour image sequences of different people walking in front of a mobile robot (PeopleBot). The included scenarios feature single persons and crowded situations observed by a moving and stationary robot. The data was collected during several sessions at Teknik Huset, Örebro University in 2004 and 2005. Data sets 1-5 also contain ground truth information in a Viper format. The following table contains a summary for each data set (fps, number of frames, date, robot behaviour, scenario, etc.), links to zipped images in PNG format, ground truth previews showing the appearance of persons across the image frames and sped up and scaled down video previews showing both modalities together.
This data set was used for several publications related to people tracking by mobile robots including Grzegorz Cielniak’s Ph.D. thesis. If you find this data sets useful please cite the following publication: G. Cielniak, T. Duckett and A.J. Lilienthal, “Data association and occlusion handling for vision-based people tracking by mobile robots.”, Robotics and Autonomous Systems, 58 (5). pp. 435-443, 2010. The paper is available at eprints.
| Data set | Frames | FPS | Location | Robot behaviour | Scenario | Date | Ground truth | Preview | Comments |
|---|---|---|---|---|---|---|---|---|---|
| orebro_1_rgbt | 744 | 10 | research lab | stationary | single person | 23.03.2005 |  |
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| orebro_2_rgbt | 519 | 10 | research lab | stationary | two persons crossing | 04.09.2004 |  |
occasional distortions in colour image | |
| orebro_3_rgbt | 1079 | 10 | research lab | stationary | multiple persons | 15.09.2004 |  |
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| orebro_4_rgbt | 3350 | 10 | research lab | stationary | multiple persons | 20.09.2004 |  |
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| orebro_5_rgbt | 3677 | 10 | research lab | corridor patrolling | multiple persons | 20.09.2004 |  |
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| orebro_6_rgbt | 880 | 4 | student corridor | stationary | single persons walking | 11.05.2004 | – | strong background light in colour image | |
| orebro_7_rgbt | 288 | 4 | atrium | stationary | two persons crossing | 11.05.2004 | – | ||
| orebro_8_rgbt | 936 | 10 | research lab | stationary | two persons crossing | 04.09.2004 | – | ||
| orebro_9_rgbt | 229 | 2 | atrium | stationary | two persons crossing | 07.05.2004 | – | thermal image blurred | |
| orebro_10_rgbt | 467 | 10 | research lab | stationary | multiple persons | 20.09.2005 | – | ||
| orebro_11_rgbt | 289 | 4 | student corridor | corridor patrolling | multiple persons, crowded | 11.05.2004 | – | strong background light in colour image | |
| orebro_12_rgbt | 488 | 4 | atrium | moving forward | multiple persons, crowded | 11.05.2004 | – |